Restructure directories add 2.3.4

recipes/fast-dds/all/conandata.yml → recipes/fast-dds/2.3.X/conandata.yml

@@ -5,10 +5,16 @@ sources:
   "2.3.3":
     url: "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.3.3.tar.gz"
     sha256: "5EBF27D810C6AB68EEF7D42937CD421D85E50509AE96883239979A1B3A2F4F82"
+  "2.3.4":
+    url: "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.3.4.tar.gz"
+    sha256: "B1B2322DE0CA55A16495666E3FBDA8ACA32B888BBFAECDA29F2FFC4B072EF7AC"
 patches:
   "2.3.2":
     - base_path: "source_subfolder"
       patch_file: "patches/2.3.2-0001-fix-find-asio-and-tinyxml2.patch"
   "2.3.3":
     - base_path: "source_subfolder"
-      patch_file: "patches/2.3.3-0001-fix-find-asio-and-tinyxml2.patch"
+      patch_file: "patches/2.3.X-0001-fix-find-asio-and-tinyxml2.patch"
+  "2.3.4":
+    - base_path: "source_subfolder"
+      patch_file: "patches/2.3.X-0001-fix-find-asio-and-tinyxml2.patch"

recipes/fast-dds/all/conanfile.py → recipes/fast-dds/2.3.X/conanfile.py

@@ -145,7 +145,10 @@ def validate(self):
                 # This combination leads to an fast-dds error when linking
                 # linking dynamic '*.dll' and static MT runtime
                 raise ConanInvalidConfiguration("Mixing a dll {} library with a static runtime is a bad idea".format(self.name))
-
+        elif self.settings.os == "Macos":
+                # FIXME: Testing currently fails with MacOS - see https://c3i.jfrog.io/c3i/misc/summary.html?json=https://c3i.jfrog.io/c3i/misc/logs/pr/8561/1-configs/macos-clang/fast-dds/2.3.2//summary.json
+                # dyld: Library not loaded: libfastrtps.2.3.dylib --> Reason: image not found
+                raise ConanInvalidConfiguration("Macos currently not supported")
 
     def build(self):
         self._patch_sources()

recipes/fast-dds/2.3.X/patches/2.3.X-0001-fix-find-asio-and-tinyxml2.patch

@@ -0,0 +1,28 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8a9cb0209..400c681e7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -225,8 +225,8 @@ if(NOT BUILD_SHARED_LIBS)
+ endif()
+
+ eprosima_find_package(fastcdr REQUIRED)
+-eprosima_find_thirdparty(Asio asio VERSION 1.10.8)
+-eprosima_find_thirdparty(TinyXML2 tinyxml2)
++eprosima_find_thirdparty(asio REQUIRED)
++eprosima_find_thirdparty(tinyxml2 REQUIRED)
+
+ find_package(foonathan_memory REQUIRED)
+ message(STATUS "Found foonathan_memory: ${foonathan_memory_DIR}")
+diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
+index d26915242..f00e36ea6 100644
+--- a/src/cpp/CMakeLists.txt
++++ b/src/cpp/CMakeLists.txt
+@@ -456,7 +456,7 @@ elseif(NOT EPROSIMA_INSTALLER)
+     # Link library to external libraries.
+     target_link_libraries(${PROJECT_NAME} ${PRIVACY} fastcdr foonathan_memory
+         ${CMAKE_THREAD_LIBS_INIT} ${CMAKE_DL_LIBS}
+-        ${TINYXML2_LIBRARY}
++        tinyxml2::tinyxml2
+         $<$<BOOL:${LINK_SSL}>:OpenSSL::SSL$<SEMICOLON>OpenSSL::Crypto$<$<BOOL:${WIN32}>:$<SEMICOLON>crypt32.lib>>
+         $<$<BOOL:${WIN32}>:iphlpapi$<SEMICOLON>Shlwapi>
+         ${THIRDPARTY_BOOST_LINK_LIBS}

recipes/fast-dds/2.3.X/test_package/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.1)
+project(HelloWorldExample)
+
+include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup()
+
+find_package(fastdds REQUIRED)
+
+include_directories(msg)
+
+add_executable(test_pub
+    HelloWorld_pub.cpp
+    msg/HelloWorld.cxx
+    msg/HelloWorldPublisher.cpp
+    msg/HelloWorldPubSubTypes.cxx
+    msg/HelloWorldSubscriber.cpp
+)
+
+add_executable(test_sub
+    HelloWorld_sub.cpp
+    msg/HelloWorld.cxx
+    msg/HelloWorldPublisher.cpp
+    msg/HelloWorldPubSubTypes.cxx
+    msg/HelloWorldSubscriber.cpp
+)
+
+set_property(TARGET test_sub PROPERTY CXX_STANDARD 11)
+set_property(TARGET test_pub PROPERTY CXX_STANDARD 11)
+
+target_link_libraries(test_sub
+    fastrtps
+)
+
+target_link_libraries(test_pub
+    fastrtps
+)

recipes/fast-dds/2.3.X/test_package/HelloWorld_pub.cpp

@@ -0,0 +1,48 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorld_main.cpp
+ *
+ */
+
+#include "HelloWorldPublisher.h"
+#include "HelloWorldSubscriber.h"
+
+#include <fastrtps/Domain.h>
+#include <fastrtps/log/Log.h>
+
+using namespace eprosima;
+using namespace fastrtps;
+using namespace rtps;
+int main(int argc, char** argv)
+{
+    std::cout << "Starting "<< std::endl;
+
+    int count = 5;
+    long sleep = 100;
+
+    HelloWorldPublisher mypub;
+    if(mypub.init())
+    {
+        mypub.run(count, sleep);
+    }
+    else
+    {
+        std::cout << "problems ... init didnt work" << std::endl;
+    }
+    Domain::stopAll();
+    Log::Reset();
+    return 0;
+}

recipes/fast-dds/2.3.X/test_package/HelloWorld_sub.cpp

@@ -0,0 +1,48 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorld_main.cpp
+ *
+ */
+
+#include "HelloWorldPublisher.h"
+#include "HelloWorldSubscriber.h"
+
+#include <fastrtps/Domain.h>
+#include <fastrtps/log/Log.h>
+
+using namespace eprosima;
+using namespace fastrtps;
+using namespace rtps;
+int main(int argc, char** argv)
+{
+    std::cout << "Starting "<< std::endl;
+
+    int count = 5;
+    long sleep = 100;
+
+    HelloWorldSubscriber mysub;
+    if(mysub.init())
+    {
+        mysub.run(count);
+    }
+    else
+    {
+        std::cout << "problems ... init didnt work" << std::endl;
+    }
+    Domain::stopAll();
+    Log::Reset();
+    return 0;
+}

recipes/fast-dds/2.3.X/test_package/conanfile.py

@@ -0,0 +1,27 @@
+import subprocess
+from conans import ConanFile, CMake, tools
+import os
+from subprocess import Popen
+
+class TestPackageConan(ConanFile):
+    settings = "os", "compiler", "build_type", "arch"
+    generators = "cmake", "cmake_find_package"
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if not tools.cross_building(self.settings):
+            bin_sub_cmd = os.path.join("bin", "test_sub")
+            bin_pub_cmd = os.path.join("bin", "test_pub")
+            sub_process = Popen([bin_sub_cmd],stdout=subprocess.PIPE) 
+            pub_process = Popen([bin_pub_cmd],stdout=subprocess.PIPE)
+            sub_process.wait(30)
+            pub_process.wait(30)
+            msg_send = 'Message: HelloWorld with index: 5 SENT' in str(pub_process.stdout.read())
+            msg_received = 'HelloWorld 5 RECEIVED' in str(sub_process.stdout.read())
+            assert msg_send
+            assert msg_received
+

recipes/fast-dds/2.3.X/test_package/msg/HelloWorldPublisher.cpp

@@ -0,0 +1,167 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorldPublisher.cpp
+ *
+ */
+
+#include "HelloWorldPublisher.h"
+#include <fastrtps/participant/Participant.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+#include <fastrtps/publisher/Publisher.h>
+#include <fastrtps/Domain.h>
+
+#include <thread>
+
+using namespace eprosima::fastrtps;
+using namespace eprosima::fastrtps::rtps;
+
+HelloWorldPublisher::HelloWorldPublisher()
+    : mp_participant(nullptr)
+    , mp_publisher(nullptr)
+{
+}
+
+bool HelloWorldPublisher::init()
+{
+    m_Hello.index(0);
+    m_Hello.message("HelloWorld");
+    ParticipantAttributes PParam;
+    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
+    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
+    PParam.rtps.setName("Participant_pub");
+    mp_participant = Domain::createParticipant(PParam);
+
+    if (mp_participant == nullptr)
+    {
+        return false;
+    }
+    //REGISTER THE TYPE
+
+    Domain::registerType(mp_participant, &m_type);
+
+    //CREATE THE PUBLISHER
+    PublisherAttributes Wparam;
+    Wparam.topic.topicKind = NO_KEY;
+    Wparam.topic.topicDataType = "HelloWorld";
+    Wparam.topic.topicName = "HelloWorldTopic";
+    Wparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
+    Wparam.topic.historyQos.depth = 30;
+    Wparam.topic.resourceLimitsQos.max_samples = 50;
+    Wparam.topic.resourceLimitsQos.allocated_samples = 20;
+    Wparam.times.heartbeatPeriod.seconds = 2;
+    Wparam.times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    Wparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*)&m_listener);
+    if (mp_publisher == nullptr)
+    {
+        return false;
+    }
+
+    return true;
+
+}
+
+HelloWorldPublisher::~HelloWorldPublisher()
+{
+    // TODO Auto-generated destructor stub
+    Domain::removeParticipant(mp_participant);
+}
+
+void HelloWorldPublisher::PubListener::onPublicationMatched(
+        Publisher* /*pub*/,
+        MatchingInfo& info)
+{
+    if (info.status == MATCHED_MATCHING)
+    {
+        n_matched++;
+        firstConnected = true;
+        std::cout << "Publisher matched" << std::endl;
+    }
+    else
+    {
+        n_matched--;
+        std::cout << "Publisher unmatched" << std::endl;
+    }
+}
+
+void HelloWorldPublisher::runThread(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    if (samples == 0)
+    {
+        while (!stop)
+        {
+            if (publish(false))
+            {
+                std::cout << "Message: " << m_Hello.message() << " with index: " << m_Hello.index() << " SENT" <<
+                        std::endl;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+    }
+    else
+    {
+        for (uint32_t i = 0; i < samples; ++i)
+        {
+            if (!publish())
+            {
+                --i;
+            }
+            else
+            {
+                std::cout << "Message: " << m_Hello.message() << " with index: " << m_Hello.index() << " SENT" <<
+                        std::endl;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+    }
+}
+
+void HelloWorldPublisher::run(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    stop = false;
+    std::thread thread(&HelloWorldPublisher::runThread, this, samples, sleep);
+    if (samples == 0)
+    {
+        std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
+        std::cin.ignore();
+        stop = true;
+    }
+    else
+    {
+        std::cout << "Publisher running " << samples << " samples." << std::endl;
+    }
+    thread.join();
+}
+
+bool HelloWorldPublisher::publish(
+        bool waitForListener)
+{
+    if (m_listener.firstConnected || !waitForListener || m_listener.n_matched > 0)
+    {
+        m_Hello.index(m_Hello.index() + 1);
+        mp_publisher->write((void*)&m_Hello);
+        return true;
+    }
+    return false;
+}