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Add eProsima Fast DDS implementation #1

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767883b
Add eProsima Fast DDS implementation
zesk1999 May 5, 2026
8ab4397
Fix makefile header; remove on_inconsistent_topic workaround
zesk1999 May 22, 2026
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3 changes: 3 additions & 0 deletions data/json/union_bitmask.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
{
"x1":128
}
49 changes: 49 additions & 0 deletions src/cxx/makefile_eprosima_fastdds_linux
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Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
######################################################################
# To compile, type:
# make -f makefile_eprosima_fastdds_linux
#
# This makefile assumes that your build environment is already correctly
# configured. (For example, the correct version of your compiler and
# linker should be on your PATH.)
#
# You should set the environment variable FASTDDS_HOME to point to where
# eProsima Fast DDS is installed:
# colcon build --merge-install --install-dir <directory>
# export FASTDDS_HOME=<directory>
#
######################################################################

COMPILER = g++
COMPILER_FLAGS = -std=c++17 -Wall -Wextra -m64
LINKER = g++
LINKER_FLAGS = -m64 -Wl,--no-as-needed
SYSLIBS = -ldl -lm -lpthread -lrt

DEFINES = -DEPROSIMA_FAST_DDS

ifndef FASTDDS_HOME
$(error FASTDDS_HOME not defined. Set it to your Fast DDS installation directory.)
endif

INCLUDES = -I. \
-I$(FASTDDS_HOME)/include

LIBS = -L$(FASTDDS_HOME)/lib -lfastdds -lfastcdr \
$(SYSLIBS)

EXEC = fastdds_pro_linux64
OBJDIR = objs/fastdds_pro

$(OBJDIR)/$(EXEC): $(OBJDIR) $(OBJDIR)/test_main.o
$(LINKER) $(LINKER_FLAGS) -o $@ $(OBJDIR)/test_main.o $(LIBS)

$(OBJDIR)/test_main.o: test_main.cxx variant_eprosima_fastdds.h
$(COMPILER) $(COMPILER_FLAGS) $(DEFINES) $(INCLUDES) -c $< -o $@

$(OBJDIR):
mkdir -p $(OBJDIR)

clean:
rm -rf $(OBJDIR)

.PHONY: clean
115 changes: 111 additions & 4 deletions src/cxx/test_main.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@
#include "variant_toc_coredx_dds.hh"
#elif defined(OPENDDS)
#include "variant_opendds.h"
#elif defined(EPROSIMA_FAST_DDS)
#include "variant_eprosima_fastdds.h"
#else
#error "Must define the DDS vendor"
#endif
Expand Down Expand Up @@ -930,16 +932,26 @@ class TestOptions {
class DPListener : public DomainParticipantListener
{
public:
void on_inconsistent_topic (Topic *topic, const InconsistentTopicStatus &) {
#if defined(EPROSIMA_FAST_DDS)
void on_inconsistent_topic(Topic *topic, InconsistentTopicStatus) {
FDDS_DECLARE_NAMES(topic);
#else
void on_inconsistent_topic(Topic *topic, const InconsistentTopicStatus &) {
const char *topic_name = topic->get_name();
const char *type_name = topic->get_type_name();
#endif
printf("%s() topic: '%s' type: '%s'\n", __FUNCTION__, topic_name, type_name);
fflush(stdout);
}

void on_offered_incompatible_qos(DataWriter *dw, const OfferedIncompatibleQosStatus & status) {
Topic *topic = dw->get_topic( );
#if defined(EPROSIMA_FAST_DDS)
FDDS_DECLARE_NAMES(topic);
#else
const char *topic_name = topic->get_name( );
const char *type_name = topic->get_type_name( );
#endif
const char *policy_name = NULL;
policy_name = get_qos_policy_name(status.last_policy_id);
printf("%s() topic: '%s' type: '%s' : %d (%s)\n", __FUNCTION__,
Expand All @@ -950,32 +962,49 @@ class DPListener : public DomainParticipantListener

void on_publication_matched (DataWriter *dw, const PublicationMatchedStatus & status) {
Topic *topic = dw->get_topic( );
#if defined(EPROSIMA_FAST_DDS)
FDDS_DECLARE_NAMES(topic);
#else
const char *topic_name = topic->get_name( );
const char *type_name = topic->get_type_name( );
#endif
printf("%s() topic: '%s' type: '%s' : matched readers %d (change = %d)\n", __FUNCTION__,
topic_name, type_name, status.current_count, status.current_count_change);
}

void on_offered_deadline_missed (DataWriter *dw, const OfferedDeadlineMissedStatus & status) {
Topic *topic = dw->get_topic( );
#if defined(EPROSIMA_FAST_DDS)
FDDS_DECLARE_NAMES(topic);
#else
const char *topic_name = topic->get_name( );
const char *type_name = topic->get_type_name( );
#endif
printf("%s() topic: '%s' type: '%s' : (total = %d, change = %d)\n", __FUNCTION__,
topic_name, type_name, status.total_count, status.total_count_change);
}

void on_liveliness_lost (DataWriter *dw, const LivelinessLostStatus & status) {
Topic *topic = dw->get_topic( );
#if defined(EPROSIMA_FAST_DDS)
FDDS_DECLARE_NAMES(topic);
#else
const char *topic_name = topic->get_name( );
const char *type_name = topic->get_type_name( );
#endif
printf("%s() topic: '%s' type: '%s' : (total = %d, change = %d)\n", __FUNCTION__,
topic_name, type_name, status.total_count, status.total_count_change);
}

void on_requested_incompatible_qos (DataReader *dr, const RequestedIncompatibleQosStatus & status) {
#if defined(EPROSIMA_FAST_DDS)
const TopicDescription *td = dr->get_topicdescription( );
FDDS_DECLARE_NAMES(td);
#else
TopicDescription *td = dr->get_topicdescription( );
const char *topic_name = td->get_name( );
const char *type_name = td->get_type_name( );
#endif
const char *policy_name = NULL;
policy_name = get_qos_policy_name(status.last_policy_id);
printf("%s() topic: '%s' type: '%s' : %d (%s)\n", __FUNCTION__,
Expand All @@ -984,25 +1013,40 @@ class DPListener : public DomainParticipantListener
}

void on_subscription_matched (DataReader *dr, const SubscriptionMatchedStatus & status) {
#if defined(EPROSIMA_FAST_DDS)
const TopicDescription *td = dr->get_topicdescription( );
FDDS_DECLARE_NAMES(td);
#else
TopicDescription *td = dr->get_topicdescription( );
const char *topic_name = td->get_name( );
const char *type_name = td->get_type_name( );
#endif
printf("%s() topic: '%s' type: '%s' : matched writers %d (change = %d)\n", __FUNCTION__,
topic_name, type_name, status.current_count, status.current_count_change);
}

void on_requested_deadline_missed (DataReader *dr, const RequestedDeadlineMissedStatus & status) {
#if defined(EPROSIMA_FAST_DDS)
const TopicDescription *td = dr->get_topicdescription( );
FDDS_DECLARE_NAMES(td);
#else
TopicDescription *td = dr->get_topicdescription( );
const char *topic_name = td->get_name( );
const char *type_name = td->get_type_name( );
#endif
printf("%s() topic: '%s' type: '%s' : (total = %d, change = %d)\n", __FUNCTION__,
topic_name, type_name, status.total_count, status.total_count_change);
}

void on_liveliness_changed (DataReader *dr, const LivelinessChangedStatus & status) {
#if defined(EPROSIMA_FAST_DDS)
const TopicDescription *td = dr->get_topicdescription( );
FDDS_DECLARE_NAMES(td);
#else
TopicDescription *td = dr->get_topicdescription( );
const char *topic_name = td->get_name( );
const char *type_name = td->get_type_name( );
#endif
printf("%s() topic: '%s' type: '%s' : (alive = %d, not_alive = %d)\n", __FUNCTION__,
topic_name, type_name, status.alive_count, status.not_alive_count);
}
Expand Down Expand Up @@ -1096,7 +1140,12 @@ class TestApplication {
}

printf("Create topic: %s\n", options->topic_name );
fflush(stdout);
#if defined(EPROSIMA_FAST_DDS)
topic = dp->create_topic( options->topic_name, FDDS_REGISTERED_TYPE_NAME, TOPIC_QOS_DEFAULT, nullptr, LISTENER_STATUS_MASK_ALL);
#else
topic = dp->create_topic( options->topic_name, options->type_name, TOPIC_QOS_DEFAULT, NULL, 0);
#endif
if (topic == NULL) {
logger.log_message("failed to create topic", Verbosity::ERROR);
return false;
Expand Down Expand Up @@ -1130,10 +1179,18 @@ class TestApplication {

dp->get_default_publisher_qos( pub_qos );
if ( options->partition != NULL ) {
#if defined(EPROSIMA_FAST_DDS)
StringSeq_push(pub_qos.partition(), options->partition);
#else
StringSeq_push(pub_qos.partition.name, options->partition);
#endif
}

#if defined(EPROSIMA_FAST_DDS)
pub = dp->create_publisher(pub_qos, nullptr, LISTENER_STATUS_MASK_NONE);
#else
pub = dp->create_publisher(pub_qos, NULL, 0);
#endif
if (pub == NULL) {
logger.log_message("failed to create publisher", Verbosity::ERROR);
return false;
Expand All @@ -1155,8 +1212,14 @@ class TestApplication {
#elif defined(TWINOAKS_COREDX) || defined(OPENDDS)
dw_qos.representation.value.length(1);
dw_qos.representation.value[0] = options->data_representation;
#elif defined(EPROSIMA_FAST_DDS)
dw_qos.representation.m_value = {options->data_representation};
#endif
#if defined(EPROSIMA_FAST_DDS)
logger.log_message(" Data_Representation = " + QosUtils::to_string(dw_qos.representation.m_value.empty() ? XCDR2_DATA_REPRESENTATION : dw_qos.representation.m_value[0]), Verbosity::DEBUG);
#else
logger.log_message(" Data_Representation = " + QosUtils::to_string(dw_qos.representation.value[0]), Verbosity::DEBUG);
#endif
if ( options->ownership_strength != -1 ) {
dw_qos.ownership.kind = EXCLUSIVE_OWNERSHIP_QOS;
dw_qos.ownership_strength.value = options->ownership_strength;
Expand Down Expand Up @@ -1195,8 +1258,12 @@ class TestApplication {
#endif

printf("Create writer for topic: %s type: %s\n", options->topic_name, options->type_name );

fflush(stdout);
#if defined(EPROSIMA_FAST_DDS)
dw = pub->create_datawriter( topic, dw_qos, &dp_listener, LISTENER_STATUS_MASK_ALL);
#else
dw = pub->create_datawriter( topic, dw_qos, NULL, 0);
#endif

if (dw == NULL) {
logger.log_message("failed to create datawriter", Verbosity::ERROR);
Expand All @@ -1216,10 +1283,18 @@ class TestApplication {

dp->get_default_subscriber_qos( sub_qos );
if ( options->partition != NULL ) {
#if defined(EPROSIMA_FAST_DDS)
StringSeq_push(sub_qos.partition(), options->partition);
#else
StringSeq_push(sub_qos.partition.name, options->partition);
#endif
}

#if defined(EPROSIMA_FAST_DDS)
sub = dp->create_subscriber( sub_qos, nullptr, LISTENER_STATUS_MASK_NONE );
#else
sub = dp->create_subscriber( sub_qos, NULL, 0 );
#endif
if (sub == NULL) {
logger.log_message("failed to create subscriber", Verbosity::ERROR);
return false;
Expand All @@ -1240,8 +1315,14 @@ class TestApplication {
#elif defined(TWINOAKS_COREDX) || defined(OPENDDS)
dr_qos.representation.value.length(1);
dr_qos.representation.value[0] = options->data_representation;
#elif defined(EPROSIMA_FAST_DDS)
dr_qos.representation.m_value = {options->data_representation};
#endif
#if defined(EPROSIMA_FAST_DDS)
logger.log_message(" DataRepresentation = " + QosUtils::to_string(dr_qos.representation.m_value.empty() ? XCDR2_DATA_REPRESENTATION : dr_qos.representation.m_value[0]), Verbosity::DEBUG);
#else
logger.log_message(" DataRepresentation = " + QosUtils::to_string(dr_qos.representation.value[0]), Verbosity::DEBUG);
#endif
if ( options->ownership_strength != -1 ) {
dr_qos.ownership.kind = EXCLUSIVE_OWNERSHIP_QOS;
}
Expand Down Expand Up @@ -1271,22 +1352,37 @@ class TestApplication {
logger.log_message(" HistoryDepth = " + std::to_string(dr_qos.history.depth), Verbosity::DEBUG);
}

#if defined(EPROSIMA_FAST_DDS)
dr_qos.type_consistency() = (DDS::FDDS_TypeConsistency_Real)options->type_consistency;
logger.log_message(" TypeConsistency * kind = " + QosUtils::to_string(options->type_consistency.kind), Verbosity::DEBUG );
logger.log_message(" * ignore_sequence_bounds = " + std::to_string(options->type_consistency.ignore_sequence_bounds ), Verbosity::DEBUG );
logger.log_message(" * ignore_string_bounds = " + std::to_string(options->type_consistency.ignore_string_bounds), Verbosity::DEBUG );
logger.log_message(" * ignore_member_names = " + std::to_string(options->type_consistency.ignore_member_names), Verbosity::DEBUG );
logger.log_message(" * prevent_type_widening = " + std::to_string(options->type_consistency.prevent_type_widening), Verbosity::DEBUG );
logger.log_message(" * force_type_validation = " + std::to_string(options->type_consistency.force_type_validation), Verbosity::DEBUG );
#else
dr_qos.type_consistency = options->type_consistency;
logger.log_message(" TypeConsistency * kind = " + QosUtils::to_string(dr_qos.type_consistency.kind), Verbosity::DEBUG );
logger.log_message(" * ignore_sequence_bounds = " + std::to_string(dr_qos.type_consistency.ignore_sequence_bounds ), Verbosity::DEBUG );
logger.log_message(" * ignore_string_bounds = " + std::to_string(dr_qos.type_consistency.ignore_string_bounds), Verbosity::DEBUG );
logger.log_message(" * ignore_member_names = " + std::to_string(dr_qos.type_consistency.ignore_member_names), Verbosity::DEBUG );
logger.log_message(" * prevent_type_widening = " + std::to_string(dr_qos.type_consistency.prevent_type_widening), Verbosity::DEBUG );
logger.log_message(" * force_type_validation = " + std::to_string(dr_qos.type_consistency.force_type_validation), Verbosity::DEBUG );
#endif

#if defined(TWINOAKS_COREDX)
if ( options->disable_type_info )
dr_qos.rtps_reader.send_typeobj_v2 = 0;
#endif

printf("Create reader for topic: %s\n", options->topic_name );

fflush(stdout);

#if defined(EPROSIMA_FAST_DDS)
dr = sub->create_datareader(topic, dr_qos, &dp_listener, LISTENER_STATUS_MASK_ALL);
#else
dr = sub->create_datareader(topic, dr_qos, NULL, LISTENER_STATUS_MASK_NONE);
#endif


if (dr == NULL) {
Expand All @@ -1307,7 +1403,9 @@ class TestApplication {

do {
DynamicDataReader * ddr = dynamic_cast<DDS::DynamicDataReader*>(dr);
#if defined(RTI_CONNEXT_DDS) || defined(OPENDDS) || defined(EPROSIMA_FAST_DDS) || defined(INTERCOM_DDS)
#if defined(EPROSIMA_FAST_DDS)
retval = fdds_take(ddr, samples, sample_infos);
#elif defined(RTI_CONNEXT_DDS) || defined(OPENDDS) || defined(INTERCOM_DDS)
retval = ddr->take ( samples,
sample_infos,
LENGTH_UNLIMITED,
Expand All @@ -1331,10 +1429,14 @@ class TestApplication {
#elif defined(TWINOAKS_COREDX)
DynamicData *sample = samples[i];
SampleInfo *sample_info = sample_infos[i];
#elif defined(EPROSIMA_FAST_DDS)
DynamicData *sample = &samples[i];
SampleInfo *sample_info = samples.get_info(i);
#endif

if (sample_info->valid_data) {
printf( "sample_received()\n" );
fflush(stdout);
print_data(sample);
if (check_data(sample, options->data_folder, options->data_file)) {
printf("Received sample is the same as loaded\n");
Expand All @@ -1348,6 +1450,8 @@ class TestApplication {
ddr->return_loan(samples, sample_infos);
#elif defined(TWINOAKS_COREDX)
ddr->return_loan( &samples, &sample_infos );
#elif defined(EPROSIMA_FAST_DDS)
samples.clear();
#endif
}
} while (retval == RETCODE_OK);
Expand Down Expand Up @@ -1378,6 +1482,8 @@ class TestApplication {
DynamicDataWriter *ddw = dynamic_cast<DynamicDataWriter *>(dw);
#if defined(RTI_CONNEXT_DDS)
ddw->write(*dd, HANDLE_NIL);
#elif defined(EPROSIMA_FAST_DDS)
fdds_write(ddw, dd, HANDLE_NIL);
#elif defined(TWINOAKS_COREDX)
ddw->write(dd, HANDLE_NIL);
#endif
Expand All @@ -1397,6 +1503,7 @@ class TestApplication {
/*************************************************************/
int main( int argc, char * argv[] )
{
setvbuf(stdout, nullptr, _IONBF, 0); // unbuffered stdout for pexpect pipe detection
install_sig_handlers();

TestOptions options;
Expand Down
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