Add Binary entity creation mode

CMakeLists.txt

@@ -235,6 +235,7 @@ set(SRCS
     src/c/core/session/common_create_entities.c
     src/c/core/session/create_entities_ref.c
     src/c/core/session/create_entities_xml.c
+    src/c/core/session/create_entities_bin.c
     src/c/core/session/read_access.c
     src/c/core/session/write_access.c
     $<$<BOOL:${UCLIENT_PROFILE_STREAM_FRAMING}>:src/c/profile/transport/stream_framing/stream_framing_protocol.c>

include/uxr/client/client.h

@@ -26,6 +26,7 @@
 #include <uxr/client/core/session/read_access.h>
 #include <uxr/client/core/session/create_entities_ref.h>
 #include <uxr/client/core/session/create_entities_xml.h>
+#include <uxr/client/core/session/create_entities_bin.h>
 
 #include <uxr/client/transport.h>
 

include/uxr/client/core/session/create_entities_bin.h

@@ -0,0 +1,250 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_BIN_H_
+#define UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_BIN_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+#include <uxr/client/core/session/common_create_entities.h>
+#include <uxr/client/core/type/xrce_types.h>
+
+//==================================================================
+//                              PUBLIC
+//==================================================================
+
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Participant payload.
+ *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE Participant according to
+ *        the binary provides in the CREATE submessage.
+ * @param session       A uxrSession structure previously initialized.
+ * @param stream_id     The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id     The identifier of the XRCE Participant.
+ * @param domain_id     The identifier of the Domain to which the XRCE Participant belongs.
+ * @param mode          The set of flags that determines the entity creation mode.
+ *                      The Creation Mode Table describes the entities creation behaviour according to the
+ *                      `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_participant_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uint16_t domain_id,
+        uint8_t mode);
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Topic payload.
+ *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE Topic according to
+ *        the binary provides in the CREATE submessage.
+ * @param session           A uxrSession structure previously initialized.
+ * @param stream_id         The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id         The identifier of the XRCE Topic.
+ * @param participant_id    The identifier of the associated XRCE Participant.
+ * @param topic_name        The XRCE Topic name.
+ * @param type_name         The XRCE Topic type.
+ * @param mode              The set of flags that determines the entity creation mode.
+ *                          The Creation Mode Table describes the entities creation behaviour according to the
+ *                          `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_topic_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId participant_id,
+        const char* topic_name,
+        const char* type_name,
+        uint8_t mode);
+
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Subscriber payload.
+ *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE Publisher according to
+ *        the binary provides in the CREATE submessage.
+ * @param session           A uxrSession structure previously initialized.
+ * @param stream_id         The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id         The identifier of the XRCE Publisher.
+ * @param participant_id    The identifier of the associated XRCE Participant.
+ * @param mode              The set of flags that determines the entity creation mode.
+ *                          The Creation Mode Table describes the entities creation behaviour according to the
+ *                          `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_publisher_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId participant_id,
+        uint8_t mode);
+
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Subscriber payload.
+ *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE Subscriber according to
+ *        the binary provides in the CREATE submessage.
+ * @param session           A uxrSession structure previously initialized.
+ * @param stream_id         The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id         The identifier of the XRCE Subscriber.
+ * @param participant_id    The identifier of the associated XRCE Participant.
+ * @param mode              The set of flags that determines the entity creation mode.
+ *                          The Creation Mode Table describes the entities creation behaviour according to the
+ *                          `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_subscriber_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId participant_id,
+        uint8_t mode);
+
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataWriter payload.
+ *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE DataWriter according to
+ *        the binary provides in the CREATE submessage.
+ * @param session               A uxrSession structure previously initialized.
+ * @param stream_id             The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id             The identifier of the XRCE DataWriter.
+ * @param publisher_id          The identifier of the associated XRCE Publisher.
+ * @param topic_id              The identifier of the associated XRCE Topic.
+ * @param reliable              Reliability flag.
+ * @param keep_last             Keep last flag.
+ * @param transient_local       Transient local flag.
+ * @param mode                  The set of flags that determines the entity creation mode.
+ *                              The Creation Mode Table describes the entities creation behaviour according to the
+ *                              `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_datawriter_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId publisher_id,
+        uxrObjectId topic_id,
+        bool reliable,
+        bool keep_last,
+        bool transient_local,
+        uint8_t mode);
+
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataReader payload.
+ *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE DataReader according to
+ *        the binary provides in the CREATE submessage.
+ * @param session               A uxrSession structure previously initialized.
+ * @param stream_id             The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id             The identifier of the XRCE DataReader.
+ * @param subscriber_id         The identifier of the associated XRCE Subscriber.
+ * @param topic_id              The identifier of the associated XRCE Topic.
+ * @param reliable              Reliability flag.
+ * @param keep_last             Keep last flag.
+ * @param transient_local       Transient local flag.
+ * @param mode                  The set of flags that determines the entity creation mode.
+ *                              The Creation Mode Table describes the entities creation behaviour according to the
+ *                              `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_datareader_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId subscriber_id,
+        uxrObjectId topic_id,
+        bool reliable,
+        bool keep_last,
+        bool transient_local,
+        uint8_t mode);
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Requester payload.
+ *        The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE Requester according to
+ *        the binary provided in the CREATE submessage.
+ *
+ * @param session               A uxrSession structure previously initialized.
+ * @param stream_id             The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id             The identifier of the XRCE Requester.
+ * @param participant_id        The identifier of the associated XRCE Participant.
+ * @param service_name          Requester service name.
+ * @param request_type          Requester request type.
+ * @param reply_type            Requester reply type.
+ * @param request_topic_name    Requester request topic name.
+ * @param reply_topic_name      Requester reply topic name.
+ * @param mode                  The set of flags that determines the entitiy creation mode.
+ *                              the Creation Mode Table describes the entities creation behaviour according to the
+ *                              `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_requester_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId participant_id,
+        const char* service_name,
+        const char* request_type,
+        const char* reply_type,
+        const char* request_topic_name,
+        const char* reply_topic_name,
+        uint8_t mode);
+
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Replier payload.
+ *        The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called.
+ *        As a result of the reception of this submessage, the Agent will create an XRCE Replier according to
+ *        the binary provided in the CREATE submessage.
+ *
+ * @param session               A uxrSession structure previously initialized.
+ * @param stream_id             The output stream identifier where the CREATE submessage will be buffered.
+ * @param object_id             The identifier of the XRCE Requester.
+ * @param participant_id        The identifier of the associated XRCE Participant.
+ * @param service_name          Replier service name.
+ * @param request_type          Replier request type.
+ * @param reply_type            Replier reply type.
+ * @param request_topic_name    Replier request topic name.
+ * @param reply_topic_name      Replier reply topic name.
+ * @param mode                  The set of flags that determines the entitiy creation mode.
+ *                              the Creation Mode Table describes the entities creation behaviour according to the
+ *                              `UXR_REUSE` and `UXR_REPLACE` flags.
+ * @return A `request_id` that identifies the request made by the Client.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+UXRDLLAPI uint16_t uxr_buffer_create_replier_bin(
+        uxrSession* session,
+        uxrStreamId stream_id,
+        uxrObjectId object_id,
+        uxrObjectId participant_id,
+        const char* service_name,
+        const char* request_type,
+        const char* reply_type,
+        const char* request_topic_name,
+        const char* reply_topic_name,
+        uint8_t mode);
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_BIN_H_

include/uxr/client/core/type/xrce_types.h

@@ -33,7 +33,8 @@ extern "C"
 #define UXR_STRING_SIZE_MAX                512
 #define UXR_SAMPLE_DATA_SIZE_MAX           512
 #define UXR_STRING_SEQUENCE_MAX            8
-#define UXR_BINARY_SEQUENCE_MAX            8
+#define UXR_BINARY_SEQUENCE_MAX            512
+#define UXR_BINARY_SEQUENCE_SMALL_MAX      8
 #define UXR_SAMPLE_SEQUENCE_MAX            8
 #define UXR_SAMPLE_DATA_SEQUENCE_MAX       8
 #define UXR_SAMPLE_DELTA_SEQUENCE_MAX      8
@@ -55,6 +56,13 @@ typedef struct BinarySequence_t
 
 } BinarySequence_t;
 
+typedef struct BinarySequenceSmall_t
+{
+    uint32_t size;
+    uint8_t data[UXR_BINARY_SEQUENCE_SMALL_MAX];
+
+} BinarySequenceSmall_t;
+
 typedef struct StringSequence_t
 {
     uint32_t size;
@@ -471,7 +479,7 @@ typedef struct OBJK_Subscriber_Binary
 
 typedef enum EndpointQosFlags
 {
-    is_reliabel = 0x01 << 0,
+    is_reliable = 0x01 << 0,
     is_history_keep_last = 0x01 << 1,
     is_ownership_exclusive = 0x01 << 2,
     is_durability_transient_local = 0x01 << 3,
@@ -491,7 +499,7 @@ typedef struct OBJK_Endpoint_QosBinary
     bool optional_lifespan_msec;
     uint32_t lifespan_msec;
     bool optional_user_data;
-    BinarySequence_t user_data;
+    BinarySequenceSmall_t user_data;
 
 } OBJK_Endpoint_QosBinary;
 
@@ -518,7 +526,7 @@ typedef struct OBJK_DataReader_Binary_Qos
 
 typedef struct OBJK_DataReader_Binary
 {
-    char* topic_name;
+    ObjectId topic_id;
     bool optional_qos;
     OBJK_DataReader_Binary_Qos qos;
 
@@ -527,12 +535,35 @@ typedef struct OBJK_DataReader_Binary
 
 typedef struct OBJK_DataWriter_Binary
 {
-    char* topic_name;
+    ObjectId topic_id;
     bool optional_qos;
     OBJK_DataWriter_Binary_Qos qos;
 
 } OBJK_DataWriter_Binary;
 
+typedef struct OBJK_Requester_Binary
+{
+    char* service_name;
+    char* request_type;
+    char* reply_type;
+    bool optional_request_topic_name;
+    char* request_topic_name;
+    bool optional_reply_topic_name;
+    char* reply_topic_name;
+
+} OBJK_Requester_Binary;
+
+typedef struct OBJK_Replier_Binary
+{
+    char* service_name;
+    char* request_type;
+    char* reply_type;
+    bool optional_request_topic_name;
+    char* request_topic_name;
+    bool optional_reply_topic_name;
+    char* reply_topic_name;
+
+} OBJK_Replier_Binary;
 
 typedef union ObjectVariantU
 {
@@ -1390,6 +1421,20 @@ bool uxr_deserialize_OBJK_DataWriter_Binary(
         ucdrBuffer* buffer,
         OBJK_DataWriter_Binary* output);
 
+bool uxr_serialize_OBJK_Requester_Binary(
+        ucdrBuffer* buffer,
+        const OBJK_Requester_Binary* input);
+bool uxr_deserialize_OBJK_Requester_Binary(
+        ucdrBuffer* buffer,
+        OBJK_Requester_Binary* output);
+
+bool uxr_serialize_OBJK_Replier_Binary(
+        ucdrBuffer* buffer,
+        const OBJK_Replier_Binary* input);
+bool uxr_deserialize_OBJK_Replier_Binary(
+        ucdrBuffer* buffer,
+        OBJK_Replier_Binary* output);
+
 bool uxr_serialize_ObjectVariant(
         ucdrBuffer* buffer,
         const ObjectVariant* input);