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Add binary entity creation to CED middleware #273

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Sep 8, 2021
Merged

Add binary entity creation to CED middleware #273

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8d91408
Add binary entity creation to CED middleware
Acuadros95 Sep 7, 2021
9ceea71
Update doc on CED binary creation
Acuadros95 Sep 8, 2021
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177 changes: 108 additions & 69 deletions include/uxr/agent/middleware/ced/CedMiddleware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,13 +64,15 @@ class CedMiddleware : public Middleware
const std::string&) override;

/**
* @brief Not implemented.
*
* @return false
* @brief Creates a CedParticipant from a binary reference.
* Currently, only the domain_id is taken into account for the creation.
* @param participant_id The CedParticipant identifier.
* @param participant_xrce XRCE Participant binary representation, NOT USED.
* @return true in case of creation and false in other case.
*/
bool create_participant_by_bin(
uint16_t /* participant_id */,
const dds::xrce::OBJK_DomainParticipant_Binary& /* participant_xrce */) override { return false; };
uint16_t participant_id,
const dds::xrce::OBJK_DomainParticipant_Binary& participant_xrce) override;

/**
* @startuml
Expand Down Expand Up @@ -109,14 +111,16 @@ class CedMiddleware : public Middleware
const std::string& xml) override;

/**
* @brief Not implemented.
*
* @return false
* @brief Creates a CedTopic associated to a CedParticipant from a binary reference.
* @param topic_id The CedTopic identifier.
* @param participant_id The CedParticipant identifier to which the CedTopic is associated.
* @param topic_xrce XRCE Topic binary representation.
* @return true in case of creation and false in other case.
*/
bool create_topic_by_bin(
uint16_t /* topic_id */,
uint16_t /* participant_id */,
const dds::xrce::OBJK_Topic_Binary& /* topic_xrce */) override { return false; };
uint16_t topic_id,
uint16_t participant_id,
const dds::xrce::OBJK_Topic_Binary& topic_xrce) override;

/**
* @startuml
Expand All @@ -134,14 +138,16 @@ class CedMiddleware : public Middleware
const std::string&) override;

/**
* @brief Not implemented.
*
* @return false
* @brief Creates a CedPublisher associated to a CedParticipant using a binary reference.
* @param publisher_id The CedPublisher identifier.
* @param participant_id The CedParticipant identifier to which the CedPublisher is associated.
* @param publisher_xrce XRCE Publisher binary representation, NOT USED.
* @return true in case of creation and false in other case.
*/
bool create_publisher_by_bin(
uint16_t /* publisher_id */,
uint16_t /* participant_id */,
const dds::xrce::OBJK_Publisher_Binary& /* publisher_xrce */) override { return false; };
uint16_t publisher_id,
uint16_t participant_id,
const dds::xrce::OBJK_Publisher_Binary& publisher_xrce) override;

/**
* @startuml
Expand All @@ -159,14 +165,16 @@ class CedMiddleware : public Middleware
const std::string&) override;

/**
* @brief Not implemented.
*
* @return false
* @brief Creates a CedSubscriber associated to a CedParticipant using a binary reference.
* @param subscirber_id The CedSubscriber identifier.
* @param participant_id The CedParticipant identifier to which the CedSubscriber is associated.
* @param subscriber_xrce XRCE Subscriber binary representation, NOT USED.
* @return true in case of creation and false in other case.
*/
bool create_subscriber_by_bin(
uint16_t /* subscriber_id */,
uint16_t /* participant_id */,
const dds::xrce::OBJK_Subscriber_Binary& /* subscriber_xrce */) override { return false; };
uint16_t subscriber_id,
uint16_t participant_id,
const dds::xrce::OBJK_Subscriber_Binary& subscriber_xrce) override;

/**
* @startuml
Expand Down Expand Up @@ -197,14 +205,16 @@ class CedMiddleware : public Middleware
const std::string& xml) override;

/**
* @brief Not implemented.
*
* @return false
* @brief Creates a CedDataWriter associated to a CedPublisher from a binary reference.
* @param datawriter_id The CedDataWriter identifier.
* @param publisher_id The CedPublisher identifier.
* @param datawriter_xrce XRCE DataWriter binary representation.
* @return true in case of creation and false in other case.
*/
bool create_datawriter_by_bin(
uint16_t /* datawriter_id */,
uint16_t /* publisher_id */,
const dds::xrce::OBJK_DataWriter_Binary& /* datawriter_xrce */) override { return false; };
uint16_t datawriter_id,
uint16_t publisher_id,
const dds::xrce::OBJK_DataWriter_Binary& datawriter_xrce) override;

/**
* @startuml
Expand Down Expand Up @@ -235,22 +245,23 @@ class CedMiddleware : public Middleware
const std::string& xml) override;

/**
* @brief Not implemented.
*
* @return false
* @brief Creates a CedDataReader associated to a CedSubscriber from a binary reference.
* @param datareader_id The CedDataReader identifier.
* @param subscriber_id The CedSubscriber identifier.
* @param datawriter_xrce XRCE DataReader binary representation.
* @return true in case of creation and false in other case.
*/
bool create_datareader_by_bin(
uint16_t /* datareader_id */,
uint16_t /* subscriber_id */,
const dds::xrce::OBJK_DataReader_Binary& /* datareader_xrce */) override { return false; };
uint16_t datareader_id,
uint16_t subscriber_id,
const dds::xrce::OBJK_DataReader_Binary& datareader_xrce) override;

/**
* @brief Not implemented.
*
* @param requester_id
* @param participant_id
* @param ref
* @return true
* @return false
*/
bool create_requester_by_ref(
Expand All @@ -264,7 +275,6 @@ class CedMiddleware : public Middleware
* @param requester_id
* @param participant_id
* @param xml
* @return true
* @return false
*/
bool create_requester_by_xml(
Expand All @@ -275,20 +285,22 @@ class CedMiddleware : public Middleware
/**
* @brief Not implemented.
*
* @param requester_id
* @param participant_id
* @param requester_xrce
* @return false
*/
bool create_requester_by_bin(
uint16_t /* requester_id */,
uint16_t /* participant_id */,
const dds::xrce::OBJK_Requester_Binary& /* requester_xrce */) override { return false; };
uint16_t,
uint16_t,
const dds::xrce::OBJK_Requester_Binary&) override { return false; };

/**
* @brief Not implemented.
*
* @param replier_id
* @param participant_id
* @param ref
* @return true
* @return false
*/
bool create_replier_by_ref(
Expand All @@ -302,7 +314,6 @@ class CedMiddleware : public Middleware
* @param replier_id
* @param participant_id
* @param xml
* @return true
* @return false
*/
bool create_replier_by_xml(
Expand All @@ -313,12 +324,15 @@ class CedMiddleware : public Middleware
/**
* @brief Not implemented.
*
* @param replier_id
* @param participant_id
* @param replier_xrce
* @return false
*/
bool create_replier_by_bin(
uint16_t /* replier_id */,
uint16_t /* participant_id */,
const dds::xrce::OBJK_Replier_Binary& /* replier_xrce */) override { return false; };
uint16_t,
uint16_t,
const dds::xrce::OBJK_Replier_Binary&) override { return false; };

/**
* @brief Removes a CedParticipant from the participants register.
Expand Down Expand Up @@ -366,7 +380,6 @@ class CedMiddleware : public Middleware
* @brief Not implemented.
*
* @param requester_id
* @return true
* @return false
*/
bool delete_requester(uint16_t) override { return false; };
Expand All @@ -375,7 +388,6 @@ class CedMiddleware : public Middleware
* @brief Not implemented
*
* @param replier_id
* @return true
* @return false
*/
bool delete_replier(uint16_t) override { return false; };
Expand Down Expand Up @@ -467,12 +479,18 @@ class CedMiddleware : public Middleware


/**
* @brief Not implemented.
* @brief Checks whether an existing CedParticipant, identified by the participant_id, matches with a new
* CedParticipant that would result from the creation of a new one using the domain_id and the binary reference.
* It is considered that the CedParticipants match if both have the same domain_id.
* @param participant_id The existing CedParticipant identifier.
* @param domain_id The Domain identifier of the new CedParticipant.
* @param xml XRCE Participant binary representation (unused).
* @return true if both CedParticipant have the same Domain identifier, and false in other case.
*/
bool matched_participant_from_bin(
uint16_t /* participant_id */,
int16_t /* domain_id */,
const dds::xrce::OBJK_DomainParticipant_Binary& /* participant_xrce */) const override { return false; };
uint16_t participant_id,
int16_t domain_id,
const dds::xrce::OBJK_DomainParticipant_Binary& participant_xrce) const override;

/**
* @brief Checks whether an existing CedTopic, identified by the topic_id, matches with a new CedTopic that would
Expand Down Expand Up @@ -501,11 +519,17 @@ class CedMiddleware : public Middleware
const std::string& xml) const override;

/**
* @brief Not implemented.
* @brief Checks whether an existing CedTopic, identified by the topic_id, matches with a new CedTopic that would
* result from the creation of a new one using the binary reference.
* It is considered that the CedTopics match if both have the same topic name.
* @param topic_id The existing CedTopic identifier.
* @param topic_xrce XRCE Topic binary representation.
* It defines the CedGlobalTopic name.
* @return true if both CedTopic have associated the same CedGlobalTopic, and false in other case.
*/
bool matched_topic_from_bin(
uint16_t /* topic_id */,
const dds::xrce::OBJK_Topic_Binary& /* topic_xrce */) const override { return false; };
uint16_t topic_id,
const dds::xrce::OBJK_Topic_Binary& topic_xrce) const override;

/**
* @brief Checks whether an existing CedDataWriter, identified by the datawriter_id, matches with the new
Expand Down Expand Up @@ -534,11 +558,17 @@ class CedMiddleware : public Middleware
const std::string& xml) const override;

/**
* @brief Not implemented.
* @brief Checks whether an existing CedDataWriter, identified by the datawriter_id, matches with the new
* CedDataWriter that would result from the creation of a new one using the binary reference.
* It is considered that the CedDataWriters match if both are associated to the same CedGlobalTopic.
* @param datawriter_id The existing CedDataWriter identifier.
* @param datawriter_xrce XRCE DataWriter binary representation.
* It defines the name of the associated CedGlobalTopic.
* @return true if both CedDataWriter have associated the same CedGlobalTopic name
*/
bool matched_datawriter_from_bin(
uint16_t /* datawriter_id */,
const dds::xrce::OBJK_DataWriter_Binary& /* datawriter_xrce */) const override { return false; };
uint16_t datawriter_id,
const dds::xrce::OBJK_DataWriter_Binary& datawriter_xrce) const override;

/**
* @brief Checks whether an existing CedDataReader, identified by the datareader_id, matches with the new
Expand Down Expand Up @@ -567,19 +597,23 @@ class CedMiddleware : public Middleware
const std::string& xml) const override;

/**
* @brief Not implemented.
* @brief Checks whether an existing CedDataReader, identified by the datareader_id, matches with the new
* CedDataReader that would result from the creation of a new one using the binary reference.
* It is considered that the CedDataReaders match if both are associated to the same CedGlobalTopic.
* @param datareader_id The existing CedDataReader identifier.
* @param datawriter_xrce XRCE DataReader binary representation.
* It defines the name of the associated CedGlobalTopic.
* @return true if both CedDataReader have associated the same CedGlobalTopic name
*/
bool matched_datareader_from_bin(
uint16_t /* datareader_id */,
const dds::xrce::OBJK_DataReader_Binary& /* datareader_xrce */) const override { return false; };

uint16_t datareader_id ,
const dds::xrce::OBJK_DataReader_Binary& datareader_xrce) const override;

/**
* @brief Not implemented.
*
* @param participant_id
* @param ref
* @return true
* @return false
*/
bool matched_requester_from_ref(
Expand All @@ -591,7 +625,6 @@ class CedMiddleware : public Middleware
*
* @param participant_id
* @param xml
* @return true
* @return false
*/
bool matched_requester_from_xml(
Expand All @@ -600,17 +633,20 @@ class CedMiddleware : public Middleware

/**
* @brief Not implemented.
*
* @param requester_id
* @param requester_xrce
* @return false
*/
bool matched_requester_from_bin(
uint16_t /* requester_id */,
const dds::xrce::OBJK_Requester_Binary& /* requester_xrce */) const override { return false; };
uint16_t,
const dds::xrce::OBJK_Requester_Binary&) const override { return false; };

/**
* @brief Not implemented.
*
* @param participant_id
* @param ref
* @return true
* @return false
*/
bool matched_replier_from_ref(
Expand All @@ -622,7 +658,6 @@ class CedMiddleware : public Middleware
*
* @param participant_id
* @param xml
* @return true
* @return false
*/
bool matched_replier_from_xml(
Expand All @@ -631,10 +666,14 @@ class CedMiddleware : public Middleware

/**
* @brief Not implemented.
*
* @param replier_id
* @param replier_xrce
* @return false
*/
bool matched_replier_from_bin(
uint16_t /* replier_id */,
const dds::xrce::OBJK_Replier_Binary& /* replier_xrce */) const override { return false; };
uint16_t,
const dds::xrce::OBJK_Replier_Binary&) const override { return false; };

private:
std::unordered_map<uint16_t, std::shared_ptr<CedParticipant>> participants_;
Expand Down
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