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Add QoS getters from raw XML (#928)
* Refs #21745. Update documentation Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * Refs #21745. Remove collapse option Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * Refs #21745. Piggyback: minor update to DDS-Record-Replay tutorial Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> --------- Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>
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‎code/DDSCodeTester.cpp

Lines changed: 35 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -5844,6 +5844,41 @@ void xml_profiles_examples()
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}
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//!--
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}
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{
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//XML-GET-QOS-FROM-XML
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DomainParticipant* participant =
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DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
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Topic* topic =
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participant->create_topic("TopicName", "DataTypeName", TOPIC_QOS_DEFAULT);
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Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
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// Load XML as string data buffer
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std::string xml_profile =
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"\
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<?xml version=\"1.0\" encoding=\"UTF-8\" ?>\
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<dds>\
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<profiles xmlns=\"http://www.eprosima.com\" >\
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<data_writer profile_name=\"test_datawriter_profile\" is_default_profile=\"true\">\
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<qos>\
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<durability>\
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<kind>TRANSIENT_LOCAL</kind>\
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</durability>\
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</qos>\
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</data_writer>\
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</profiles>\
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</dds>\
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";
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// Extract Qos from XML
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DataWriterQos qos;
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if (RETCODE_OK == publisher->get_datawriter_qos_from_xml(xml_profile, qos, "test_datawriter_profile"))
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{
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// Modify extracted qos and use it to create DDS entities
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}
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//!--
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}
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}
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void dds_transport_examples ()
@@ -7704,28 +7739,6 @@ bool dds_permissions_test(
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return false;
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}
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bool dds_rosbag_example()
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{
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//CREATE THE PARTICIPANT
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DomainParticipant* participant_;
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Topic* topic_;
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TypeSupport type_;
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participant_ = DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
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//CREATE THE TOPIC FOR ROSBAG
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topic_ = participant_->create_topic(
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"rt/HelloWorldTopic",
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type_.get_type_name(),
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TOPIC_QOS_DEFAULT);
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if (topic_ == nullptr)
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{
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return false;
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}
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//!
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return true;
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}
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void pubsub_api_example_create_entities()
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{
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//PUBSUB_API_CREATE_PARTICIPANT

‎docs/03-exports/aliases-api.include

Lines changed: 26 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -140,9 +140,21 @@
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.. |DomainParticipant::set_default_subscriber_qos-api| replace:: :cpp:func:`set_default_subscriber_qos()<eprosima::fastdds::dds::DomainParticipant::set_default_subscriber_qos>`
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.. |DomainParticipant::set_default_topic_qos-api| replace:: :cpp:func:`set_default_topic_qos()<eprosima::fastdds::dds::DomainParticipant::set_default_topic_qos>`
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.. |DomainParticipant::get_qos-api| replace:: :cpp:func:`DomainParticipant::get_qos()<eprosima::fastdds::dds::DomainParticipant::get_qos>`
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.. |DomainParticipant::get_publisher_qos_from_profile| replace:: :cpp:func:`get_publisher_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_publisher_qos_from_profile>`
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.. |DomainParticipant::get_subscriber_qos_from_profile| replace:: :cpp:func:`get_subscriber_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_subscriber_qos_from_profile>`
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.. |DomainParticipant::get_topic_qos_from_profile| replace:: :cpp:func:`get_topic_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_topic_qos_from_profile>`
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.. |DomainParticipant::get_publisher_qos_from_profile-api| replace:: :cpp:func:`get_publisher_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_publisher_qos_from_profile>`
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.. |DomainParticipant::get_publisher_qos_from_xml-api| replace:: :cpp:func:`get_publisher_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_publisher_qos_from_xml>`
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.. |DomainParticipant::get_default_publisher_qos_from_xml-api| replace:: :cpp:func:`get_default_publisher_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_default_publisher_qos_from_xml>`
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.. |DomainParticipant::get_subscriber_qos_from_profile-api| replace:: :cpp:func:`get_subscriber_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_subscriber_qos_from_profile>`
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.. |DomainParticipant::get_subscriber_qos_from_xml-api| replace:: :cpp:func:`get_subscriber_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_subscriber_qos_from_xml>`
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.. |DomainParticipant::get_default_subscriber_qos_from_xml-api| replace:: :cpp:func:`get_default_subscriber_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_default_subscriber_qos_from_xml>`
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.. |DomainParticipant::get_topic_qos_from_profile-api| replace:: :cpp:func:`get_topic_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_topic_qos_from_profile>`
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.. |DomainParticipant::get_topic_qos_from_xml-api| replace:: :cpp:func:`get_topic_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_topic_qos_from_xml>`
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.. |DomainParticipant::get_default_topic_qos_from_xml-api| replace:: :cpp:func:`get_default_topic_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_default_topic_qos_from_xml>`
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.. |DomainParticipant::get_requester_qos_from_profile-api| replace:: :cpp:func:`get_requester_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_requester_qos_from_profile>`
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.. |DomainParticipant::get_requester_qos_from_xml-api| replace:: :cpp:func:`get_requester_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_requester_qos_from_xml>`
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.. |DomainParticipant::get_default_requester_qos_from_xml-api| replace:: :cpp:func:`get_default_requester_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_default_requester_qos_from_xml>`
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.. |DomainParticipant::get_replier_qos_from_profile-api| replace:: :cpp:func:`get_replier_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_replier_qos_from_profile>`
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.. |DomainParticipant::get_replier_qos_from_xml-api| replace:: :cpp:func:`get_replier_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_replier_qos_from_xml>`
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.. |DomainParticipant::get_default_replier_qos_from_xml-api| replace:: :cpp:func:`get_default_replier_qos_from_xml()<eprosima::fastdds::dds::DomainParticipant::get_default_replier_qos_from_xml>`
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.. |DomainParticipant::set_qos-api| replace:: :cpp:func:`DomainParticipant::set_qos()<eprosima::fastdds::dds::DomainParticipant::set_qos>`
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.. |DomainParticipant::delete_contained_entities-api| replace:: :cpp:func:`delete_contained_entities()<eprosima::fastdds::dds::DomainParticipant::delete_contained_entities>`
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.. |DomainParticipant::create_topic_with_profile-api| replace:: :cpp:func:`create_topic_with_profile()<eprosima::fastdds::dds::DomainParticipant::create_topic_with_profile>`
@@ -151,7 +163,9 @@
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.. |DomainParticipant::enable-monitor-service-api| replace:: :cpp:func:`enable_monitor_service()<eprosima::fastdds::dds::DomainParticipant::enable_monitor_service>`
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.. |DomainParticipant::disable-monitor-service-api| replace:: :cpp:func:`disable_monitor_service()<eprosima::fastdds::dds::DomainParticipant::disable_monitor_service>`
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.. |DomainParticipant::get_participant_qos_from_profile| replace:: :cpp:func:`get_participant_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_participant_qos_from_profile>`
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.. |DomainParticipantFactory::get_participant_qos_from_profile-api| replace:: :cpp:func:`get_participant_qos_from_profile()<eprosima::fastdds::dds::DomainParticipantFactory::get_participant_qos_from_profile>`
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.. |DomainParticipantFactory::get_participant_qos_from_xml-api| replace:: :cpp:func:`get_participant_qos_from_xml()<eprosima::fastdds::dds::DomainParticipantFactory::get_participant_qos_from_xml>`
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.. |DomainParticipantFactory::get_default_participant_qos_from_xml-api| replace:: :cpp:func:`get_default_participant_qos_from_xml()<eprosima::fastdds::dds::DomainParticipantFactory::get_default_participant_qos_from_xml>`
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.. |DomainParticipantFactory-api| replace:: :cpp:class:`DomainParticipantFactory<eprosima::fastdds::dds::DomainParticipantFactory>`
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.. |DomainParticipantFactory::check_xml_static_discovery-api| replace:: :cpp:func:`DomainParticipantFactory::check_xml_static_discovery()<eprosima::fastdds::dds::DomainParticipantFactory::check_xml_static_discovery>`
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.. |DomainParticipantFactory::create_participant_with_default_profile-api| replace:: :cpp:func:`create_participant_with_default_profile()<eprosima::fastdds::dds::DomainParticipantFactory::create_participant_with_default_profile>`
@@ -162,6 +176,8 @@
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.. |DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name-api| replace:: :cpp:func:`DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name()<eprosima::fastdds::dds::DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name>`
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.. |DomainParticipantFactory::get_instance-api| replace:: :cpp:func:`get_instance()<eprosima::fastdds::dds::DomainParticipantFactory::get_instance>`
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.. |DomainParticipantFactory::get_participant_extended_qos_from_profile-api| replace:: :cpp:func:`get_participant_extended_qos_from_profile()<eprosima::fastdds::dds::DomainParticipantFactory::get_participant_extended_qos_from_profile>`
179+
.. |DomainParticipantFactory::get_participant_extended_qos_from_xml-api| replace:: :cpp:func:`get_participant_extended_qos_from_xml()<eprosima::fastdds::dds::DomainParticipantFactory::get_participant_extended_qos_from_xml>`
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.. |DomainParticipantFactory::get_default_participant_extended_qos_from_xml-api| replace:: :cpp:func:`get_default_participant_extended_qos_from_xml()<eprosima::fastdds::dds::DomainParticipantFactory::get_default_participant_extended_qos_from_xml>`
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.. |DomainParticipantFactory::load_XML_profiles_file-api| replace:: :cpp:func:`load_XML_profiles_file()<eprosima::fastdds::dds::DomainParticipantFactory::load_XML_profiles_file>`
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.. |DomainParticipantFactory::load_XML_profiles_string-api| replace:: :cpp:func:`load_XML_profiles_string()<eprosima::fastdds::dds::DomainParticipantFactory::load_XML_profiles_string>`
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.. |DomainParticipantFactory::set_default_participant_qos-api| replace:: :cpp:func:`set_default_participant_qos()<eprosima::fastdds::dds::DomainParticipantFactory::set_default_participant_qos>`
@@ -222,7 +238,9 @@
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.. |Publisher::create_datawriter-api| replace:: :cpp:func:`create_datawriter()<eprosima::fastdds::dds::Publisher::create_datawriter>`
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.. |Publisher::delete_datawriter-api| replace:: :cpp:func:`delete_datawriter()<eprosima::fastdds::dds::Publisher::delete_datawriter>`
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.. |Publisher::get_default_datawriter_qos-api| replace:: :cpp:func:`get_default_datawriter_qos()<eprosima::fastdds::dds::Publisher::get_default_datawriter_qos>`
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.. |Publisher::get_datawriter_qos_from_profile| replace:: :cpp:func:`get_datawriter_qos_from_profile()<eprosima::fastdds::dds::Publisher::get_datawriter_qos_from_profile>`
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.. |Publisher::get_datawriter_qos_from_profile-api| replace:: :cpp:func:`get_datawriter_qos_from_profile()<eprosima::fastdds::dds::Publisher::get_datawriter_qos_from_profile>`
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.. |Publisher::get_datawriter_qos_from_xml-api| replace:: :cpp:func:`get_datawriter_qos_from_xml()<eprosima::fastdds::dds::Publisher::get_datawriter_qos_from_xml>`
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.. |Publisher::get_default_datawriter_qos_from_xml-api| replace:: :cpp:func:`get_default_datawriter_qos_from_xml()<eprosima::fastdds::dds::Publisher::get_default_datawriter_qos_from_xml>`
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.. |Publisher::get_qos-api| replace:: :cpp:func:`get_qos()<eprosima::fastdds::dds::Publisher::get_qos>`
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.. |Publisher::set_default_datawriter_qos-api| replace:: :cpp:func:`set_default_datawriter_qos()<eprosima::fastdds::dds::Publisher::set_default_datawriter_qos>`
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.. |Publisher::set_qos-api| replace:: :cpp:func:`Publisher::set_qos()<eprosima::fastdds::dds::Publisher::set_qos>`
@@ -246,7 +264,9 @@
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.. |Subscriber::get_datareaders-api| replace:: :cpp:func:`Subscriber::get_datareaders()<eprosima::fastdds::dds::Subscriber::get_datareaders>`
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.. |Subscriber::get_default_datareader_qos-api| replace:: :cpp:func:`get_default_datareader_qos()<eprosima::fastdds::dds::Subscriber::get_default_datareader_qos>`
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.. |Subscriber::set_default_datareader_qos-api| replace:: :cpp:func:`set_default_datareader_qos()<eprosima::fastdds::dds::Subscriber::set_default_datareader_qos>`
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.. |Subscriber::get_datareader_qos_from_profile| replace:: :cpp:func:`get_datareader_qos_from_profile()<eprosima::fastdds::dds::Subscriber::get_datareader_qos_from_profile>`
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.. |Subscriber::get_datareader_qos_from_profile-api| replace:: :cpp:func:`get_datareader_qos_from_profile()<eprosima::fastdds::dds::Subscriber::get_datareader_qos_from_profile>`
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.. |Subscriber::get_datareader_qos_from_xml-api| replace:: :cpp:func:`get_datareader_qos_from_xml()<eprosima::fastdds::dds::Subscriber::get_datareader_qos_from_xml>`
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.. |Subscriber::get_default_datareader_qos_from_xml-api| replace:: :cpp:func:`get_default_datareader_qos_from_xml()<eprosima::fastdds::dds::Subscriber::get_default_datareader_qos_from_xml>`
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.. |Subscriber::create_datareader-api| replace:: :cpp:func:`create_datareader()<eprosima::fastdds::dds::Subscriber::create_datareader>`
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.. |Subscriber::delete_datareader-api| replace:: :cpp:func:`delete_datareader()<eprosima::fastdds::dds::Subscriber::delete_datareader>`
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.. |Subscriber::create_datareader_with_profile-api| replace:: :cpp:func:`create_datareader_with_profile()<eprosima::fastdds::dds::Subscriber::create_datareader_with_profile>`

‎docs/fastdds/dds_layer/domain/domainParticipant/domainParticipant.rst

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@@ -178,3 +178,7 @@ the |DomainParticipant-api| from |DomainParticipantQos-api|.
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:start-after: //DDS_CHANGE_DOMAINPARTICIPANTEXTENDEDQOS
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:end-before: //!
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:dedent: 8
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It is also possible to fill a |DomainParticipantExtendedQos-api| object directly from a raw XML string without the need
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to previously load any profile.
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Please refer to :ref:`loading_raw_xml_profiles` section for more information.

‎docs/fastdds/use_cases/dds_record_and_replay/dds_record_and_replay.rst

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@@ -94,8 +94,8 @@ Stop the recorder with ``Ctrl+C`` and check that the MCAP file exists.
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Next Steps
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==========
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The usage of the DDS Remote Controller and DDS Replay tools follows
98-
the same steps as the DDS Recorder tool.
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Once having finished a recording session, it is possible to play it back by using **DDS Replay tool**, as shown
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in `this tutorial <https://dds-recorder.readthedocs.io/en/latest/rst/replaying/getting_started/usage_example.html>`_.
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For further information, please refer to the
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`eProsima DDS Record and Replay documentation

‎docs/fastdds/use_cases/use_cases.rst

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and how to take full advantage of *Fast DDS* wide set of capabilities in a ROS 2 project.
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+ :ref:`dds_record_and_replay`.
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Instructions on how to tune your application to be able to record and replay your DDS messages using ROS 2 rosbag2
94-
package.
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Instructions on how to tune your application to be able to record and replay your DDS messages using
94+
`eProsima DDS Record and Replay <https://github.com/eProsima/DDS-Record-Replay>`_.
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+ :ref:`use-case-request-reply`.
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Although *Fast DDS* provides a *Publisher-Subscriber* communication protocol, it offers a mechanism to use

‎docs/fastdds/xml_configuration/making_xml_profiles.rst

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@@ -78,6 +78,62 @@ Please, refer to :ref:`xml_profiles` for further information regarding loading p
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To load dynamic types from XML files see the :ref:`Usage` subsection of :ref:`xmldynamictypes`.
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.. _loading_raw_xml_profiles:
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Get QoS from raw XML profiles
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Although the :ref:`standard procedure <loadingapplyingprofiles>` is to first load XML profiles, and then create entities
87+
given the profile name of choice, it is also possible to get the desired QoS from the XML profile directly so it can be
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modified before being used.
89+
For this purpose, the following public methods are available:
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- |DomainParticipantFactory-api|
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- |DomainParticipantFactory::get_participant_qos_from_xml-api|
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- |DomainParticipantFactory::get_default_participant_qos_from_xml-api|
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- |DomainParticipantFactory::get_participant_extended_qos_from_xml-api|
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- |DomainParticipantFactory::get_default_participant_extended_qos_from_xml-api|
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- |DomainParticipant-api|
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- |DomainParticipant::get_publisher_qos_from_xml-api|
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- |DomainParticipant::get_default_publisher_qos_from_xml-api|
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- |DomainParticipant::get_subscriber_qos_from_xml-api|
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- |DomainParticipant::get_default_subscriber_qos_from_xml-api|
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- |DomainParticipant::get_topic_qos_from_xml-api|
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- |DomainParticipant::get_default_topic_qos_from_xml-api|
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- |DomainParticipant::get_requester_qos_from_xml-api|
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- |DomainParticipant::get_default_requester_qos_from_xml-api|
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- |DomainParticipant::get_replier_qos_from_xml-api|
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- |DomainParticipant::get_default_replier_qos_from_xml-api|
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- |Publisher-api|
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- |Publisher::get_datawriter_qos_from_xml-api|
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- |Publisher::get_default_datawriter_qos_from_xml-api|
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- |Subscriber-api|
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- |Subscriber::get_datareader_qos_from_xml-api|
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- |Subscriber::get_default_datareader_qos_from_xml-api|
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For each :code:`qos` kind there exists two method versions; with and without :code:`profile_name` argument.
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When provided, the method searches for the given profile name in the loaded XML profiles,
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and results in error if not found.
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When not provided, the method fills the provided :code:`qos` object with the first retrieved profile of the
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pertinent kind, and results in error when none found.
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In addition, there exists another method version which looks for the default profile of the pertinent kind
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in the provided XML string.
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Following is an example of how to get the QoS from a raw XML profile and modify it before creating a new entity.
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.. literalinclude:: /../code/DDSCodeTester.cpp
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:language: cpp
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:start-after: //XML-GET-QOS-FROM-XML
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:end-before: //!--
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:dedent: 8
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.. _rootedvsstandalone:
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Rooted vs Standalone profiles definition

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