Split RTPS and DDS Listeners in DynTypesParticipant

ddspipe_participants/include/ddspipe_participants/participant/dynamic_types/DynTypesParticipant.hpp

@@ -71,16 +71,19 @@ class DynTypesParticipant : public rtps::SimpleParticipant
     std::shared_ptr<core::IReader> create_reader(
             const core::ITopic& topic) override;
 
-    class DynTypesRtpsListener : public rtps::CommonParticipant::RtpsListener,
-        public eprosima::fastdds::dds::DomainParticipantListener
+    /**
+     * @brief This class is the DDS Listener for DynTypesParticipant. It inherits directly from
+     * \c fastdds::dds::DomainParticipantListener and implements the methods needed to process type objects and
+     * type lookup services.
+     */
+    class DynTypesDdsListener : public eprosima::fastdds::dds::DomainParticipantListener
     {
     public:
 
         DDSPIPE_PARTICIPANTS_DllAPI
-        explicit DynTypesRtpsListener(
-                std::shared_ptr<ParticipantConfiguration> conf,
-                std::shared_ptr<core::DiscoveryDatabase> ddb,
-                std::shared_ptr<InternalReader> internal_reader);
+        explicit DynTypesDdsListener(
+                std::shared_ptr<InternalReader> type_object_reader,
+                core::types::ParticipantId participant_id);
 
         DDSPIPE_PARTICIPANTS_DllAPI
         void on_type_discovery(
@@ -106,6 +109,9 @@ class DynTypesParticipant : public rtps::SimpleParticipant
         //! Copy of Type Object Internal Reader
         std::shared_ptr<InternalReader> type_object_reader_;
 
+        //! Participant ID for informative purposes. It is stored in the CommonParticipant (RTPS)
+        core::types::ParticipantId participant_id_;
+
     };
 
 protected:
@@ -114,12 +120,14 @@ class DynTypesParticipant : public rtps::SimpleParticipant
 
     eprosima::fastdds::dds::DomainParticipant* dds_participant_;
 
+    std::unique_ptr<eprosima::fastdds::dds::DomainParticipantListener> dds_participant_listener_;
+
     //! Type Object Internal Reader
     std::shared_ptr<InternalReader> type_object_reader_;
 
-    //! Override method from \c CommonParticipant to create the internal RTPS participant listener
+    //! Method to create the internal DDS participant listener
     DDSPIPE_PARTICIPANTS_DllAPI
-    std::unique_ptr<fastrtps::rtps::RTPSParticipantListener> create_listener_() override;
+    virtual std::unique_ptr<fastdds::dds::DomainParticipantListener> create_dds_listener_();
 
 };
 

ddspipe_participants/src/cpp/participant/dynamic_types/DynTypesParticipant.cpp

@@ -94,18 +94,15 @@ std::shared_ptr<IReader> DynTypesParticipant::create_reader(
     return rtps::SimpleParticipant::create_reader(topic);
 }
 
-DynTypesParticipant::DynTypesRtpsListener::DynTypesRtpsListener(
-        std::shared_ptr<ParticipantConfiguration> conf,
-        std::shared_ptr<core::DiscoveryDatabase> ddb,
-        std::shared_ptr<InternalReader> internal_reader)
-    : rtps::CommonParticipant::RtpsListener(
-        conf,
-        ddb)
-    , type_object_reader_(internal_reader)
+DynTypesParticipant::DynTypesDdsListener::DynTypesDdsListener(
+        std::shared_ptr<InternalReader> type_object_reader,
+        core::types::ParticipantId participant_id)
+    : type_object_reader_(type_object_reader)
+    , participant_id_(participant_id)
 {
 }
 
-void DynTypesParticipant::DynTypesRtpsListener::on_type_discovery(
+void DynTypesParticipant::DynTypesDdsListener::on_type_discovery(
         eprosima::fastdds::dds::DomainParticipant* /* participant */,
         const fastrtps::rtps::SampleIdentity& /* request_sample_id */,
         const fastrtps::string_255& /* topic */,
@@ -122,7 +119,7 @@ void DynTypesParticipant::DynTypesRtpsListener::on_type_discovery(
     }
 }
 
-void DynTypesParticipant::DynTypesRtpsListener::on_type_information_received(
+void DynTypesParticipant::DynTypesDdsListener::on_type_information_received(
         eprosima::fastdds::dds::DomainParticipant* participant,
         const fastrtps::string_255 /* topic_name */,
         const fastrtps::string_255 type_name,
@@ -177,11 +174,11 @@ void DynTypesParticipant::DynTypesRtpsListener::on_type_information_received(
     }
 }
 
-void DynTypesParticipant::DynTypesRtpsListener::internal_notify_type_object_(
+void DynTypesParticipant::DynTypesDdsListener::internal_notify_type_object_(
         DynamicType_ptr dynamic_type)
 {
     logInfo(DDSPIPE_DYNTYPES_PARTICIPANT,
-            "Participant " << configuration_->id << " discovered type object " << dynamic_type->get_name());
+            "Participant " << participant_id_ << " discovered type object " << dynamic_type->get_name());
 
     monitor_type_discovered(dynamic_type->get_name());
 
@@ -295,9 +292,9 @@ void DynTypesParticipant::initialize_internal_dds_participant_()
         configuration->domain,
         pqos);
 
-    // Note that this listeners also inherits from DomainParticipantListener
-    dds_participant_->set_listener(
-        dynamic_cast<fastdds::dds::DomainParticipantListener*>(rtps_participant_listener_.get()));
+    // Create the DDS listener and set it in the participant
+    dds_participant_listener_ = create_dds_listener_();
+    dds_participant_->set_listener(dds_participant_listener_.get());
 
     dds_participant_->enable();
 
@@ -313,9 +310,11 @@ void DynTypesParticipant::initialize_internal_dds_participant_()
     }
 }
 
-std::unique_ptr<fastrtps::rtps::RTPSParticipantListener> DynTypesParticipant::create_listener_()
+std::unique_ptr<fastdds::dds::DomainParticipantListener> DynTypesParticipant::create_dds_listener_()
 {
-    return std::make_unique<DynTypesRtpsListener>(configuration_, discovery_database_, type_object_reader_);
+    // Note that when the DDS listener is created, the RTPS participant is already created and enabled.
+    // Therefore, we can access to the RTPS participant GUID prefix safely.
+    return std::make_unique<DynTypesDdsListener>(type_object_reader_, configuration_->id);
 }
 
 } /* namespace participants */