[23069] Generate code for interface servers

src/main/java/com/eprosima/fastcdr/idl/templates/FastCdrCommon.stg

@@ -26,9 +26,13 @@ paramTypeByRef(typecode) ::= <%
 $typecode.cppTypename$&
 %>
 
-paramTypeByValue(typecode, feed) ::= <%
+paramTypeByValue(typecode, feed, is_server) ::= <%
 $if(feed)$
+$if(is_server)$
+eprosima::fastdds::dds::rpc::RpcServerReader<$typecode.cppTypename$>&
+$else$
 std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$typecode.cppTypename$>>&
+$endif$
 $else$
 $if(typecode.primitive)$
 $typecode.cppTypename$
@@ -39,7 +43,7 @@ $endif$
 %>
 
 paramDeclarations(params, initialSeparator="") ::= <<
-$if(params)$$initialSeparator$$endif$$params : {param | /*$param.comment$*/ $if(param.output)$$paramTypeByRef(typecode=param.typecode)$$else$$paramTypeByValue(typecode=param.typecode, feed=param.annotationFeed)$$endif$ $param.name$}; anchor, separator=",\n"$
+$if(params)$$initialSeparator$$endif$$params : {param | /*$param.comment$*/ $if(param.output)$$paramTypeByRef(typecode=param.typecode)$$else$$paramTypeByValue(typecode=param.typecode, feed=param.annotationFeed, is_server=false)$$endif$ $param.name$}; anchor, separator=",\n"$
 >>
 
 object_serialization(ctx, object) ::= <<

src/main/java/com/eprosima/fastdds/fastddsgen.java

@@ -809,6 +809,9 @@ private Project parseIDL(
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/ClientHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/ClientSource.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ServerHeader.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ServerSource.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ServerImplementation.stg");
 
                 if (generate_typeobjectsupport_)
                 {
@@ -1072,6 +1075,21 @@ private Project parseIDL(
                         {
                             project.addCommonSrcFile(relative_dir + ctx.getFilename() + "Client.cxx");
                         }
+                        if (returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "Server.hpp",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ServerHeader.stg"), m_replace))
+                        {
+                            project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "Server.hpp");
+                        }
+                        if (returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "Server.cxx",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ServerSource.stg"), m_replace))
+                        {
+                            project.addCommonSrcFile(relative_dir + ctx.getFilename() + "Server.cxx");
+                        }
+                        returnedValue &=
+                            Utils.writeFile(output_dir + ctx.getFilename() + "ServerImpl.hpp",
+                                maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ServerImplementation.stg"), m_replace);
                     }
 
                     if (ctx.existsLastStructure())

src/main/java/com/eprosima/fastdds/idl/grammar/Operation.java

@@ -65,6 +65,11 @@ public boolean isAnnotationMutable()
         return false;
     }
 
+    public boolean isHasInputFeeds()
+    {
+        return m_hasInputFeeds;
+    }
+
     @Override
     public void add(com.eprosima.idl.parser.tree.Param param)
     {
@@ -81,6 +86,7 @@ public void add(com.eprosima.idl.parser.tree.Param param)
             {
                 // Take note that there is at least one input feed
                 m_context.setThereIsInputFeed(true);
+                m_hasInputFeeds = true;
             }
         }
 
@@ -242,4 +248,5 @@ public StructTypeCode getResultTypeCode()
     private StructTypeCode m_in_type = null;
     private StructTypeCode m_out_type = null;
     private StructTypeCode m_result_type = null;
+    private boolean m_hasInputFeeds = false;
 }

src/main/java/com/eprosima/fastdds/idl/templates/ClientSource.stg

@@ -408,8 +408,7 @@ $if(operation.annotationFeed)$
                 bool& should_remove) override
         {
             should_remove = false;
-            if (cancelled_ ||
-                (req_info.related_sample_identity != info.related_sample_identity))
+            if (req_info.related_sample_identity != info.related_sample_identity)
             {
                 return;
             }
@@ -433,23 +432,26 @@ $if(operation.annotationFeed)$
                 {
                     const auto& out = result.result.value();
                     {
-                        if (out.return_.has_value())
+                        if (out.finished_.has_value())
                         {
-                            // Store the return value
+                            // Store the finished value
                             std::lock_guard<std::mutex> _(mtx_);
-                            queue_.push(out.return_.value());
+                            finished_ = true;
                             cv_.notify_all();
+                        }
+                        else if (out.return_.has_value())
+                        {
+                            if (!cancelled_)
+                            {
+                                // Store the return value
+                                std::lock_guard<std::mutex> _(mtx_);
+                                queue_.push(out.return_.value());
+                                cv_.notify_all();
+                            }
 
                             // Should be kept in order to receive further values
                             should_remove = false;
                         }
-                        else if (out.finished_.has_value())
-                        {
-                            // Store the finished value
-                            std::lock_guard<std::mutex> _(mtx_);
-                            finished_ = true;
-                            cv_.notify_all();
-                        }
                         else
                         {
                             set_invalid_reply(*this);

src/main/java/com/eprosima/fastdds/idl/templates/ServerHeader.stg

@@ -0,0 +1,144 @@
+// Copyright 2025 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.
+
+group ProtocolHeader;
+
+import "eprosima.stg"
+import "com/eprosima/fastcdr/idl/templates/FastCdrCommon.stg"
+
+main(ctx, definitions) ::= <<
+$fileHeader(ctx=ctx,  file=[ctx.filename, "Server.hpp"], description=["Server implementation for interfaces"])$
+
+#ifndef FAST_DDS_GENERATED__$ctx.headerGuardName$_SERVER_HPP
+#define FAST_DDS_GENERATED__$ctx.headerGuardName$_SERVER_HPP
+
+#include <memory>
+
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/qos/ReplierQos.hpp>
+#include <fastdds/dds/rpc/exceptions.hpp>
+#include <fastdds/dds/rpc/interfaces.hpp>
+#include <fastdds/rtps/common/Guid.hpp>
+#include <fastdds/rtps/common/RemoteLocators.hpp>
+
+#include "$ctx.filename$.hpp"
+
+$definitions; separator="\n"$
+
+#endif  // FAST_DDS_GENERATED__$ctx.headerGuardName$_CLIENT_HPP
+
+>>
+
+module(ctx, parent, module, definition_list) ::= <<
+namespace $module.name$ {
+
+$definition_list$
+
+} // namespace $module.name$
+
+>>
+
+interface(ctx, parent, interface, export_list) ::= <<
+struct $interface.name$Server
+{
+    /**
+     * @brief Context for a client request.
+     */
+    struct ClientContext
+    {
+        virtual ~ClientContext() = default;
+
+        /**
+         * @brief Get the GUID of the client that made the request.
+         *
+         * @return The GUID of the client that made the request.
+         */
+        virtual const eprosima::fastdds::rtps::GUID_t& get_client_id() const = 0;
+
+        /**
+         * @brief Get the locators of the client that made the request.
+         *
+         * @return The locators of the client that made the request.
+         */
+        virtual const eprosima::fastdds::rtps::RemoteLocatorList& get_client_locators() const = 0;
+    };
+
+    struct IServerImplementation
+    {
+        virtual ~IServerImplementation() = default;
+
+        $interface.all_operations:{op | $operation_prototype(op)$}; separator="\n\n"$
+    };
+
+    virtual ~$interface.name$Server() = default;
+
+    /**
+     * @brief Run the server.
+     *
+     * This method starts the server and begins processing requests.
+     * The method will block until the server is stopped.
+     */
+    virtual void run() = 0;
+
+    /**
+     * @brief Stop the server.
+     *
+     * This method stops the server and releases all resources.
+     * It will cancel all pending requests, and wait for all processing threads to finish before returning.
+     */
+    virtual void stop() = 0;
+
+};
+
+/**
+ * @brief Create a $interface.name$Server instance.
+ *
+ * @param part             The DomainParticipant to use for the server.
+ * @param service_name     The name of the service.
+ * @param qos              The QoS settings for the server.
+ * @param thread_pool_size The size of the thread pool to use for processing requests.
+ *                         When set to 0, a new thread will be created when no threads are available.
+ * @param implementation   The implementation of the server interface.
+ */
+extern $ctx.fileNameUpper$_DllAPI std::shared_ptr<$interface.name$Server> create_$interface.name$Server(
+        eprosima::fastdds::dds::DomainParticipant& part,
+        const char* service_name,
+        const eprosima::fastdds::dds::ReplierQos& qos,
+        size_t thread_pool_size,
+        std::shared_ptr<$interface.name$Server::IServerImplementation> implementation);
+>>
+
+operation_prototype(op) ::= <<
+$if(op.annotationFeed)$
+virtual void $op.name$(
+        const ClientContext& info,
+$if(op.parameters)$
+        $operation_parameters(op.parameters)$,
+$endif$
+        /*result*/ eprosima::fastdds::dds::rpc::RpcServerWriter<$paramRetType(op.rettype)$>& result_writer) = 0;
+$else$
+$if(op.parameters)$
+virtual $paramRetType(op.rettype)$ $op.name$(
+        const ClientContext& info,
+        $operation_parameters(op.parameters)$) = 0;
+$else$
+virtual $paramRetType(op.rettype)$ $op.name$(
+        const ClientContext& info) = 0;
+$endif$
+$endif$
+>>
+
+operation_parameters(params) ::= <<
+$params : {param | /*$param.comment$*/ $if(param.output)$$paramTypeByRef(typecode=param.typecode)$$else$$paramTypeByValue(typecode=param.typecode, feed=param.annotationFeed, is_server=true)$$endif$ $param.name$}; anchor, separator=",\n"$
+>>

src/main/java/com/eprosima/fastdds/idl/templates/ServerImplementation.stg

@@ -0,0 +1,97 @@
+// Copyright 2025 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.
+
+group ProtocolHeader;
+
+import "eprosima.stg"
+import "com/eprosima/fastcdr/idl/templates/FastCdrCommon.stg"
+
+main(ctx, definitions) ::= <<
+$fileHeader(ctx=ctx,  file=[ctx.filename, "ServerImpl.hpp"], description=["Server implementation for interfaces"])$
+
+#ifndef FAST_DDS_GENERATED__$ctx.headerGuardName$_SERVERIMPL_HPP
+#define FAST_DDS_GENERATED__$ctx.headerGuardName$_SERVERIMPL_HPP
+
+#include "$ctx.filename$.hpp"
+#include "$ctx.filename$Server.hpp"
+
+$definitions; separator="\n"$
+
+#endif  // FAST_DDS_GENERATED__$ctx.headerGuardName$_SERVERIMPL_HPP
+
+>>
+
+module(ctx, parent, module, definition_list) ::= <<
+namespace $module.name$ {
+
+$definition_list$
+
+} // namespace $module.name$
+
+>>
+
+interface(ctx, parent, interface, export_list) ::= <<
+//{ interface $interface.name$
+
+namespace detail {
+
+namespace fdds = eprosima::fastdds::dds;
+namespace frpc = eprosima::fastdds::dds::rpc;
+namespace frtps = eprosima::fastdds::rtps;
+
+struct $interface.name$ServerImplementation :
+    public $interface.name$Server::IServerImplementation
+{
+
+    $interface.all_operations:{op | $operation_implementation(interface, op)$}; separator="\n"$
+
+};
+
+}  // namespace detail
+
+//} interface $interface.name$
+
+>>
+
+operation_implementation(interface, op) ::= <<
+$if(op.annotationFeed)$
+void $op.name$(
+        const $interface.name$Server::ClientContext& info,
+$if(op.parameters)$
+        $operation_parameters(op.parameters)$,
+$endif$
+        /*result*/ frpc::RpcServerWriter<$paramRetType(op.rettype)$>& result_writer) override
+$else$
+$if(op.parameters)$
+$paramRetType(op.rettype)$ $op.name$(
+        const $interface.name$Server::ClientContext& info,
+        $operation_parameters(op.parameters)$) override
+$else$
+$paramRetType(op.rettype)$ $op.name$(
+        const $interface.name$Server::ClientContext& info) override
+$endif$
+$endif$
+{
+    static_cast<void>(info);
+    $op.parameters : {param | static_cast<void>($param.name$);}; anchor, separator="\n"$
+    $if(op.annotationFeed)$
+    static_cast<void>(result_writer);
+    $endif$
+    throw frpc::RemoteUnsupportedError("Operation '$op.name$' is not implemented");
+}
+>>
+
+operation_parameters(params) ::= <<
+$params : {param | /*$param.comment$*/ $if(param.output)$$paramTypeByRef(typecode=param.typecode)$$else$$paramTypeByValue(typecode=param.typecode, feed=param.annotationFeed, is_server=true)$$endif$ $param.name$}; anchor, separator=",\n"$
+>>