[24452] Add Topic-Name Profile Lookup for Entity Creation

docs/rst/notes/forthcoming_version.rst

@@ -5,3 +5,7 @@
 ###################
 Forthcoming Version
 ###################
+
+This release includes the following **features**:
+
+- Support per-topic DataReader QoS customization via XML profiles in ``init_monitor``.

src/cpp/StatisticsBackend.cpp

@@ -338,7 +338,16 @@ EntityId create_and_register_monitor(
         }
 
         /* Create DataReaders */
-        if (topic == MONITOR_SERVICE_TOPIC)
+        fastdds::dds::DataReaderQos unused_qos;
+        if (monitor->subscriber->get_datareader_qos_from_profile(topic, unused_qos) == RETCODE_OK)
+        {
+            monitor->statistics_readers[topic] = monitor->subscriber->create_datareader_with_profile(
+                monitor->statistics_topics[topic],
+                topic,
+                monitor->statistics_reader_listener,
+                StatusMask::all());
+        }
+        else if (topic == MONITOR_SERVICE_TOPIC)
         {
             monitor->statistics_readers[topic] = monitor->subscriber->create_datareader(
                 monitor->statistics_topics[topic],

test/mock/dds/Subscriber/fastdds/dds/subscriber/Subscriber.hpp

@@ -80,6 +80,36 @@ class Subscriber
         get_default_datareader_qos,
         DataReaderQos & ());
 
+    MOCK_CONST_METHOD2(
+        get_datareader_qos_from_profile,
+        ReturnCode_t(
+            const std::string& profile_name,
+            DataReaderQos & qos));
+
+    MOCK_METHOD5(
+        create_datareader_with_profile_mock_method,
+        DataReader * (
+            TopicDescription * topic,
+            const std::string& profile_name,
+            DataReaderListener * listener,
+            const StatusMask& mask,
+            std::shared_ptr<fastdds::rtps::IPayloadPool> payload_pool));
+
+    DataReader* create_datareader_with_profile(
+            TopicDescription* topic,
+            const std::string& profile_name,
+            DataReaderListener* listener = nullptr,
+            const StatusMask& mask = StatusMask::all(),
+            std::shared_ptr<fastdds::rtps::IPayloadPool> payload_pool = nullptr)
+    {
+        return create_datareader_with_profile_mock_method(
+            topic,
+            profile_name,
+            listener,
+            mask,
+            payload_pool);
+    }
+
     MOCK_CONST_METHOD0(
         get_participant,
         DomainParticipant * ());

test/unittest/StatisticsBackend/CMakeLists.txt

@@ -345,6 +345,8 @@ set(INIT_MONITOR_TEST_LIST
     init_monitor_check_participant_transport
     init_monitor_easy_mode
     profile_does_not_exist
+    init_monitor_datareader_uses_default_qos
+    init_monitor_datareader_uses_profile_qos
     )
 
 foreach(test_name ${INIT_MONITOR_TEST_LIST})

test/unittest/StatisticsBackend/InitMonitorFactoryFailsTests.cpp

@@ -169,6 +169,9 @@ class init_monitor_factory_fails_tests : public ::testing::Test
         ON_CALL(subscriber_, get_default_datareader_qos())
                 .WillByDefault(ReturnRef(datareader_qos_));
 
+        ON_CALL(subscriber_, get_datareader_qos_from_profile(_, _))
+                .WillByDefault(Return(eprosima::fastdds::dds::RETCODE_BAD_PARAMETER));
+
         ON_CALL(domain_participant_, register_type(_, _))
                 .WillByDefault(Return(eprosima::fastdds::dds::RETCODE_OK));
 
@@ -193,6 +196,8 @@ class init_monitor_factory_fails_tests : public ::testing::Test
         EXPECT_CALL(domain_participant_, get_default_subscriber_qos()).Times(AnyNumber());
         EXPECT_CALL(domain_participant_, get_default_topic_qos()).Times(AnyNumber());
         EXPECT_CALL(subscriber_, get_default_datareader_qos()).Times(AnyNumber());
+        EXPECT_CALL(subscriber_, get_datareader_qos_from_profile(_, _)).Times(AnyNumber());
+        EXPECT_CALL(subscriber_, create_datareader_with_profile_mock_method(_, _, _, _, _)).Times(AnyNumber());
 
         // The default expectations
         EXPECT_CALL(domain_participant_, create_subscriber(_, _, _)).Times(AnyNumber());

test/unittest/StatisticsBackend/InitMonitorTests.cpp

@@ -20,6 +20,8 @@
 #include <gmock/gmock.h>
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/subscriber/DataReader.hpp>
+#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/topic/TopicDataType.hpp>
@@ -149,7 +151,8 @@ class init_monitor_tests : public ::testing::Test
         }
 
         // Set the profile to ignore discovery data from other processes
-        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_XML_profiles_file("profiles/profile.xml");
+        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_XML_profiles_file(
+            "profiles/profile.xml");
         eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
     }
 
@@ -259,7 +262,7 @@ class init_monitor_tests : public ::testing::Test
         //Get data from participant discovery info
         auto get_property_value =
                 [](const eprosima::fastdds::rtps::PropertySeq& properties,
-                        const std::string& property_name) -> std::string
+                const std::string& property_name) -> std::string
                 {
                     auto property = std::find_if(
                         properties.begin(),
@@ -807,6 +810,69 @@ TEST_F(init_monitor_tests, profile_does_not_exist)
                 all_datakind_mask_), Error);
 }
 
+TEST_F(init_monitor_tests, init_monitor_datareader_uses_default_qos)
+{
+    DomainId domain_id = 0;
+    DomainListener domain_listener;
+
+    EntityId monitor_id = StatisticsBackend::init_monitor(
+        domain_id,
+        &domain_listener,
+        all_callback_mask_,
+        all_datakind_mask_);
+
+    ASSERT_TRUE(monitor_id.is_valid());
+
+    auto domain_monitors = test::get_monitors_from_database();
+    ASSERT_EQ(domain_monitors.size(), 1u);
+
+    auto* monitor = domain_monitors[monitor_id];
+
+    auto* reader = monitor->statistics_readers[HISTORY_LATENCY_TOPIC];
+    ASSERT_NE(nullptr, reader);
+
+    DataReaderQos reader_qos;
+    reader->get_qos(reader_qos);
+
+    EXPECT_EQ(reader_qos.durability().kind, eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS);
+
+    StatisticsBackend::stop_monitor(monitor_id);
+}
+
+TEST_F(init_monitor_tests, init_monitor_datareader_uses_profile_qos)
+{
+    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_XML_profiles_file(
+        "profiles/datareader_profile.xml");
+
+    DomainId domain_id = 0;
+    DomainListener domain_listener;
+
+    EntityId monitor_id = StatisticsBackend::init_monitor(
+        domain_id,
+        &domain_listener,
+        all_callback_mask_,
+        all_datakind_mask_);
+
+    ASSERT_TRUE(monitor_id.is_valid());
+
+    auto domain_monitors = test::get_monitors_from_database();
+    ASSERT_EQ(domain_monitors.size(), 1u);
+
+    auto* monitor = domain_monitors[monitor_id];
+
+    auto* reader = monitor->statistics_readers[HISTORY_LATENCY_TOPIC];
+    ASSERT_NE(nullptr, reader);
+
+    DataReaderQos reader_qos;
+    reader->get_qos(reader_qos);
+
+    EXPECT_EQ(reader_qos.durability().kind, eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS);
+
+    StatisticsBackend::stop_monitor(monitor_id);
+
+    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
+}
+
 int main(
         int argc,
         char** argv)

test/unittest/StatisticsBackend/profiles/datareader_profile.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"  ?>
+<profiles>
+    <data_reader profile_name="_fastdds_statistics_history2history_latency">
+        <qos>
+            <durability>
+                <kind>VOLATILE</kind>
+            </durability>
+        </qos>
+    </data_reader>
+</profiles>