Fast DDS Visualizer Plugin migration to Fast DDS v3.0.0 (#58)

* Refs #21388: Refactor DynamicTypes Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Fix persistence bug in time series Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Fix types manually added using XML profile Signed-off-by: Carlosespicur <carlosespicur@proton.me> Fix load types from XML file Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Add support for sequence types Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Add application metadata Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Add readthedocs.yaml Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Update github workflows Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Uncrustify Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Update requirements.txt Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Fix documentation tests Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21388: Add review changes Signed-off-by: Carlosespicur <carlosespicur@proton.me> --------- Signed-off-by: Carlosespicur <carlosespicur@proton.me>
eProsima · Sep 16, 2024 · 03bc170 · 03bc170
1 parent 265a22e
commit 03bc170
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diff --git a/.github/workflows/requirements.repos b/.github/workflows/requirements.repos
@@ -7,7 +7,7 @@ repositories:
         type: git
         url: https://github.com/eProsima/Fast-CDR.git
         version: master
-    fastrtps:
+    fastdds:
         type: git
         url: https://github.com/eProsima/Fast-DDS.git
         version: master

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -74,7 +74,7 @@ jobs:
         if: always()
 
       - name: Upload Logs
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-ubuntu
           path: log/
@@ -134,13 +134,13 @@ jobs:
         if: always()
 
       - name: Upload documentation
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           name: Documentation HTML
           path: install/fastdds_visualizer_plugin/docs/fastdds_visualizer_plugin_docs/sphinx/html/
 
       - name: Upload Logs
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-ubuntu
           path: log/
@@ -294,7 +294,7 @@ jobs:
             ${MODIFIED_FILES}
 
       - name: Upload uncrustify results
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           name: uncrustify_results
           path: uncrustify_results.xml
diff --git a/docs/readthedocs.yaml → .readthedocs.yaml b/docs/readthedocs.yaml → .readthedocs.yaml
@@ -9,6 +9,12 @@ version: 2
 sphinx:
   configuration: docs/conf.py
 
+# Set OS specifically for version compatibility
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+
 # Build documentation with MkDocs
 #mkdocs:
 #  configuration: mkdocs.yml
@@ -18,6 +24,5 @@ formats: all
 
 # Optionally set the version of Python and requirements required to build your docs
 python:
-  version: 3.7
   install:
-    - requirements: docs/requirements.txt
+    - requirements: docs/requirements.txt
diff --git a/docs/conf.py b/docs/conf.py
@@ -190,7 +190,7 @@ def select_css(html_css_dir):
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
+language = 'en'
 
 # There are two options for replacing |today|: either, you set today to some
 # non-false value, then it is used:

diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -1,9 +1,18 @@
 doc8==0.10.1
 docutils==0.16.0
-GitPython==3.1.24
-setuptools==59.4.0
+GitPython==3.1.41
+setuptools==65.5.1
 sphinx_rtd_theme==0.5.2
+sphinx-sitemap==2.2.0
 sphinx-tabs==3.2.0
 sphinx==4.3.1
+sphinxcontrib-applehelp==1.0.4
+sphinxcontrib-devhelp==1.0.2
+sphinxcontrib-htmlhelp==2.0.1
 sphinxcontrib-imagehelper==1.1.1
+sphinxcontrib-plantuml==0.22
+sphinxcontrib-qthelp==1.0.3
+sphinxcontrib-serializinghtml==1.1.5
 sphinxcontrib.spelling==7.2.1
+vcstool==0.3.0
+xmlschema==2.1.1
diff --git a/docs/rst/developer_manual/installation/sources/linux.rst b/docs/rst/developer_manual/installation/sources/linux.rst
@@ -27,7 +27,7 @@ The following packages will be installed:
 
 - ``foonathan_memory_vendor``, an STL compatible C++ memory allocator library.
 - ``fastcdr``, a C++ library that serializes according to the standard CDR serialization mechanism.
-- ``fastrtps``, the core library of eProsima Fast DDS library.
+- ``fastdds``, the core library of eProsima Fast DDS library.
 
 First of all, the :ref:`Requirements <requirements>` and :ref:`Dependencies <dependencies>` detailed below need to be
 met.

diff --git a/package.xml b/package.xml
@@ -22,7 +22,7 @@
 
     <!-- Fast DDS dependencies -->
     <depend>fastcdr</depend>
-    <depend>fastrtps</depend>
+    <depend>fastdds</depend>
 
     <!-- Plotjuggler -->
     <depend>plotjuggler</depend>

diff --git a/plugins/datastreamer_plugin/CMakeLists.txt b/plugins/datastreamer_plugin/CMakeLists.txt
@@ -34,7 +34,7 @@ project(fastdds_visualizer_plugin_datastream_plugin)
 ###############################################################################
 # Load eProsima packages
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
 
 # Load Qt requirements
 find_package(Qt5 REQUIRED COMPONENTS
@@ -145,7 +145,7 @@ target_link_libraries(
     ${PROJECT_NAME}
         ${QT_LINK_LIBRARIES}
         ${plotjuggler_LIBRARIES}
-        fastrtps
+        fastdds
     )
 
 

diff --git a/plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.cpp b/plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.cpp
@@ -97,23 +97,8 @@ bool FastDdsDataStreamer::start(
     }
 
     // Get all series from topics and create them
-    // NUMERIC
-    std::vector<types::DatumLabel> numeric_series = fastdds_handler_.numeric_data_series_names();
-    for (const auto& series : numeric_series)
-    {
-        // Create a series
-        DEBUG("Creating numeric series: " << series);
-        dataMap().addNumeric(series);
-    }
-
-    // STRING
-    std::vector<types::DatumLabel> string_series = fastdds_handler_.string_data_series_names();
-    for (const auto& series : string_series)
-    {
-        // Create a series
-        DEBUG("Creating string series: " << series);
-        dataMap().addStringSeries(series);
-    }
+    dataMap().clear();
+    create_series_();
 
     running_ = true;
     return true;
@@ -161,6 +146,20 @@ bool FastDdsDataStreamer::xmlLoadState(
 // FASTDDS LISTENER METHODS
 ////////////////////////////////////////////////////
 
+void FastDdsDataStreamer::on_data_available()
+{
+    DEBUG("FastDdsDataStreamer on_data_available");
+
+    // Locking DataStream
+    std::lock_guard<std::mutex> lock(mutex());
+
+    // Clear data created from previous sample
+    dataMap().clear();
+
+    // Create series from new received sample
+    create_series_();
+}
+
 void FastDdsDataStreamer::on_double_data_read(
         const std::vector<std::pair<std::string, double>>& data_per_topic_value,
         double timestamp)
@@ -173,11 +172,15 @@ void FastDdsDataStreamer::on_double_data_read(
     for (const auto& data : data_per_topic_value)
     {
         DEBUG("Adding to numeric series " << data.first << " value " << data.second << " with timestamp " << timestamp);
-
+        if (dataMap().numeric.find(data.first) == dataMap().numeric.end())
+        {
+            throw InconsistencyException("Series " + data.first + " not found.");
+        }
         // Get data map
         auto& series = dataMap().numeric.find(data.first)->second;
         // Add data to series
         series.pushBack( { timestamp, data.second});
+        DEBUG("...Data added to series");
     }
 
     emit dataReceived();
@@ -207,16 +210,20 @@ void FastDdsDataStreamer::on_string_data_read(
 
 void FastDdsDataStreamer::on_topic_discovery(
         const std::string& topic_name,
-        const std::string& type_name,
-        bool type_registered)
+        const std::string& type_name)
 {
     DEBUG("FastDdsDataStreamer topic_discovery_signal " << topic_name);
+    bool type_info_available = fastdds_handler_.get_topic_data_base()->operator [](topic_name).second;
+
+    // __FLAG__
+    DEBUG("topic discovery signal with type name " << type_name << " and type info available " << type_info_available);
+    /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
     // Emit signal to UI so it is handled from Qt thread
     emit select_topics_dialog_.topic_discovery_signal(
         utils::string_to_QString(topic_name),
         utils::string_to_QString(type_name),
-        type_registered);
+        type_info_available);
 }
 
 ////////////////////////////////////////////////////
@@ -255,6 +262,28 @@ void FastDdsDataStreamer::connect_to_domain_(
     select_topics_dialog_.connect_to_domain(domain_id);
 }
 
+void FastDdsDataStreamer::create_series_()
+{
+    // Get all series from topics and create them
+    // NUMERIC
+    std::vector<types::DatumLabel> numeric_series = fastdds_handler_.numeric_data_series_names();
+    for (const auto& series : numeric_series)
+    {
+        // Create a series
+        DEBUG("Creating numeric series: " << series);
+        dataMap().addNumeric(series);
+    }
+
+    // STRING
+    std::vector<types::DatumLabel> string_series = fastdds_handler_.string_data_series_names();
+    for (const auto& series : string_series)
+    {
+        // Create a series
+        DEBUG("Creating string series: " << series);
+        dataMap().addStringSeries(series);
+    }
+}
+
 } /* namespace datastreamer */
 } /* namespace plotjuggler */
 } /* namespace eprosima */
diff --git a/plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.hpp b/plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.hpp
@@ -91,6 +91,7 @@ class FastDdsDataStreamer :
     ////////////////////////////////////////////////////
     // FASTDDS LISTENER METHODS
     ////////////////////////////////////////////////////
+    virtual void on_data_available() override;
 
     virtual void on_double_data_read(
             const std::vector<types::NumericDatum>& data_per_topic_value,
@@ -102,8 +103,7 @@ class FastDdsDataStreamer :
 
     virtual void on_topic_discovery(
             const std::string& topic_name,
-            const std::string& type_name,
-            bool type_registered) override;
+            const std::string& type_name) override;
 
 
     ////////////////////////////////////////////////////
@@ -132,6 +132,7 @@ class FastDdsDataStreamer :
     void connect_to_domain_(
             unsigned int domain_id);
 
+    void create_series_();
 
     ////////////////////////////////////////////////////
     // INTERNAL VALUES

diff --git a/plugins/datastreamer_plugin/fastdds/FastDdsListener.hpp b/plugins/datastreamer_plugin/fastdds/FastDdsListener.hpp
@@ -24,8 +24,8 @@
 
 #include <string>
 
-#include "utils/utils.hpp"
 #include "utils/types.hpp"
+#include "utils/utils.hpp"
 
 namespace eprosima {
 namespace plotjuggler {
@@ -41,6 +41,11 @@ class FastDdsListener
 {
 public:
 
+    virtual void on_data_available()
+    {
+        DEBUG("Calling on_data_available");
+    }
+
     virtual void on_double_data_read(
             const std::vector<types::NumericDatum>& numeric_data,
             double timestamp)
@@ -61,13 +66,11 @@ class FastDdsListener
 
     virtual void on_topic_discovery(
             const std::string& topic_name,
-            const std::string& type_name,
-            bool type_registered)
+            const std::string& type_name)
     {
         DEBUG("Calling on_topic_discovery");
         static_cast<void>(topic_name);
         static_cast<void>(type_name);
-        static_cast<void>(type_registered);
     }
 
 };