[22682] Add RPCDDS internal API

include/fastdds/dds/core/Entity.hpp

@@ -132,6 +132,16 @@ class Entity
         return status_condition_;
     }
 
+    /**
+     * @brief Allows access to the StatusCondition associated with the Entity
+     *
+     * @return Const Reference to StatusCondition object
+     */
+    FASTDDS_EXPORTED_API const StatusCondition& get_statuscondition() const
+    {
+        return status_condition_;
+    }
+
 protected:
 
     /**

include/fastdds/dds/domain/DomainParticipant.hpp

@@ -33,6 +33,7 @@
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/domain/qos/ReplierQos.hpp>
 #include <fastdds/dds/domain/qos/RequesterQos.hpp>
+#include <fastdds/dds/rpc/ServiceTypeSupport.hpp>
 #include <fastdds/dds/topic/ContentFilteredTopic.hpp>
 #include <fastdds/dds/topic/IContentFilterFactory.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
@@ -55,12 +56,19 @@ class ResourceEvent;
 } // namespace rtps
 
 namespace dds {
+namespace rpc {
+class Replier;
+class Requester;
+class Service;
+} // namespace rpc
 
 class DomainParticipantImpl;
 class DomainParticipantListener;
 class Publisher;
 class PublisherQos;
 class PublisherListener;
+class ReplierQos;
+class RequesterQos;
 class Subscriber;
 class SubscriberQos;
 class SubscriberListener;
@@ -388,6 +396,82 @@ class DomainParticipant : public Entity
             const std::string& topic_name,
             const fastdds::dds::Duration_t& timeout);
 
+    /**
+     * Create a RPC service.
+     * 
+     * @param service_name Name of the service.
+     * @param service_type_name Type name of the service (Request & reply types)
+     * 
+     * @return Pointer to the created service. nullptr in error case.
+     */
+    FASTDDS_EXPORTED_API rpc::Service* create_service(
+            const std::string& service_name,
+            const std::string& service_type_name);
+
+    /**
+     * Find a RPC service by name
+     * 
+     * @param service_name Name of the service to search for.
+     * @return Pointer to the service object if found, nullptr if not found.
+     */
+    FASTDDS_EXPORTED_API rpc::Service* find_service(
+            const std::string& service_name) const;
+
+    /**
+     * Delete a registered RPC service
+     * 
+     * @param service Pointer to the service to be deleted.
+     * @return RETCODE_OK if the service was deleted, or an specific error code otherwise.
+     */
+    FASTDDS_EXPORTED_API ReturnCode_t delete_service(
+            const rpc::Service* service);
+
+    /**
+     * Create a RPC Requester in a given Service.
+     * 
+     * @param service Pointer to a service object where the requester will be created.
+     * @param requester_qos QoS of the requester.
+     * 
+     * @return Pointer to the created requester. nullptr in error case.
+     */
+    FASTDDS_EXPORTED_API rpc::Requester* create_service_requester(
+            rpc::Service* service,
+            const RequesterQos& requester_qos);
+
+    /**
+     * Deletes an existing RPC Requester
+     * 
+     * @param service_name Name of the service where the requester is created. 
+     * @param requester Pointer to the requester to be deleted.
+     * @return RETCODE_OK if the requester was deleted, or an specific error code otherwise.
+     */
+    FASTDDS_EXPORTED_API ReturnCode_t delete_service_requester(
+            const std::string& service_name,
+            rpc::Requester* requester);
+
+    /**
+     * Create a RPC Replier in a given Service. It will override the current service's replier
+     * 
+     * @param service Pointer to a service object where the Replier will be created.
+     * @param requester_qos QoS of the requester.
+     * 
+     * @return Pointer to the created requester. nullptr in error case.
+     */
+    FASTDDS_EXPORTED_API rpc::Replier* create_service_replier(
+            rpc::Service* service,
+            const ReplierQos& replier_qos);
+
+    /**
+     * Deletes an existing RPC Replier
+     * 
+     * @param service_name Name of the service where the replier is created. 
+     * @param replier Pointer to the replier to be deleted.
+     * @return RETCODE_OK if the replier was deleted, or an specific error code otherwise.
+     */
+    FASTDDS_EXPORTED_API ReturnCode_t delete_service_replier(
+            const std::string& service_name,
+            rpc::Replier* replier);
+
     /**
      * Looks up an existing, locally created @ref TopicDescription, based on its name.
      * May be called on a disabled participant.
@@ -1041,6 +1125,35 @@ class DomainParticipant : public Entity
     FASTDDS_EXPORTED_API TypeSupport find_type(
             const std::string& type_name) const;
 
+    /**
+     * Register a service type in this participant.
+     *
+     * @param service_type ServiceTypeSupport.
+     * @param service_type_name The name that will be used to identify the service type.
+     * @return RETCODE_OK if it is correctly registered. Error code otherwise.
+     */
+    FASTDDS_EXPORTED_API ReturnCode_t register_service_type(
+            rpc::ServiceTypeSupport service_type,
+            const std::string& service_type_name);
+
+    /**
+     * Unregister a service type in this participant.
+     *
+     * @param service_type_name Name of the type
+     * @return RETCODE_OK if it is correctly unregistered. Error code otherwise.
+     */
+    FASTDDS_EXPORTED_API ReturnCode_t unregister_service_type(
+            const std::string& service_type_name);
+
+    /**
+     * This method gives access to a registered service type based on its name.
+     *
+     * @param service_type_name Name of the type
+     * @return ServiceTypeSupport corresponding to the service_type_name
+     */
+    FASTDDS_EXPORTED_API rpc::ServiceTypeSupport find_service_type(
+            const std::string& service_type_name) const;
+
     /**
      * Returns the DomainParticipant's handle.
      *

include/fastdds/dds/rpc/RPCEntity.hpp

@@ -0,0 +1,80 @@
+// 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.
+
+#ifndef FASTDDS_DDS_RPC__RPCENTITY_HPP
+#define FASTDDS_DDS_RPC__RPCENTITY_HPP
+
+#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
+#include <fastdds/fastdds_dll.hpp>
+
+namespace eprosima {
+namespace fastdds {
+namespace dds {
+namespace rpc {
+
+/**
+ * @brief Abstract base class for all RPC Objects
+ */
+class RPCEntity
+{
+
+public:
+
+    /**
+     * @brief Constructor
+     */
+    FASTDDS_EXPORTED_API RPCEntity()
+        : enable_(false)
+    {
+    }
+
+    /**
+     * @brief Enables the entity
+     */
+    virtual ReturnCode_t enable()
+    {
+        enable_ = true;
+        return RETCODE_OK;
+    }
+
+    /**
+     * @brief Disables the entity
+     */
+    virtual ReturnCode_t close()
+    {
+        enable_ = false;
+        return RETCODE_OK;
+    }
+
+    /**
+     * @brief Checks if the entity is enabled
+     */
+    FASTDDS_EXPORTED_API bool is_enabled() const
+    {
+        return enable_;
+    }
+
+protected:
+
+    //! Boolean that states if the Entity is enabled or disabled
+    bool enable_;
+
+};
+
+} // namespace rpc
+} // namespace dds
+} // namespace fastdds
+} // namespace eprosima
+
+#endif // FASTDDS_DDS_RPC__RPCENTITY_HPP

include/fastdds/dds/rpc/Replier.hpp

@@ -0,0 +1,107 @@
+// 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.
+
+#ifndef FASTDDS_DDS_RPC__REPLIER_HPP
+#define FASTDDS_DDS_RPC__REPLIER_HPP
+
+#include <fastdds/dds/core/LoanableSequence.hpp>
+#include <fastdds/dds/rpc/RPCEntity.hpp>
+
+namespace eprosima {
+namespace fastdds {
+namespace dds {
+
+class LoanableCollection;
+class SampleInfo;
+class DataWriter;
+class DataReader;
+
+} // namespace dds
+
+namespace dds {
+namespace rpc {
+
+class RequestInfo;
+
+/**
+ * @brief Base class for a Replier in the RPC communication
+ */
+class Replier : public RPCEntity
+{
+
+public:
+
+    /**
+     * @brief Destructor
+     */
+    virtual ~Replier(){};
+
+    /**
+     * @brief Returns the name of the service to which the replier belongs
+     */
+    virtual const std::string& get_service_name() const = 0;
+
+    /**
+     * @brief Send a reply message
+     * 
+     * @param data Data to send
+     * @param info Information about the reply sample. This information is used to match the reply with the request through the SampleIdentity
+     * @return RETCODE_OK if the reply was sent successfully or a ReturnCode related to the specific error otherwise
+     */
+    virtual ReturnCode_t send_reply(
+            void* data,
+            RequestInfo& info) = 0;
+
+    /**
+     * @brief Take a request message from the Replier DataReader's history.
+     * 
+     * @param data Data to receive the request
+     * @param info Information about the request sample
+     * @return RETCODE_OK if the request was taken successfully or a ReturnCode related to the specific error otherwise
+     */
+    virtual ReturnCode_t take_request(
+            void* data,
+            SampleInfo& info) = 0;
+
+    /**
+     * @brief Take all request messages stored in the Replier DataReader's history.
+     * @note This method does not allow to take only the samples associated to a given request. User must implement a zero-copy solution to link request and reply samples.
+     * 
+     * @param data Data to receive the request
+     * @param info Information about the request sample
+     * @return RETCODE_OK if the request was taken successfully or a ReturnCode related to the specific error otherwise
+     */
+    virtual ReturnCode_t take_request(
+            LoanableCollection& data,
+            LoanableSequence<SampleInfo>& info) = 0;
+
+    /**
+     * @brief Getter for the Replier's DataWriter
+     */
+    virtual const DataWriter* get_replier_writer() const = 0;
+
+    /**
+     * @brief Getter for the Replier's DataReader
+     */
+    virtual const DataReader* get_replier_reader() const = 0;
+
+};
+
+} // namespace rpc
+} // namespace dds
+} // namesapce fastdds
+} // namespace eprosima
+
+
+#endif // FASTDDS_DDS_RPC__REPLIER_HPP