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Set TopicDataType name before registering types in DomainParticipant #73

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Merged
merged 2 commits into from
Apr 7, 2025
Merged

Set TopicDataType name before registering types in DomainParticipant #73

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18b788b
Set TopicDataType name before registering TypeSupport in Participant.
Carlosespicur Apr 2, 2025
7dc9ca0
Fix comment and warning
Carlosespicur Apr 3, 2025
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4 changes: 0 additions & 4 deletions plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,10 +213,6 @@ void FastDdsDataStreamer::on_topic_discovery(
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),
Expand Down
17 changes: 3 additions & 14 deletions plugins/datastreamer_plugin/fastdds/Participant.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,19 +173,17 @@ void Participant::create_subscription(
DataTypeNameType type_name = discovery_database_->operator [](topic_name).first;
DynamicType::_ref_type dyn_type;

// Check if type is already registered
// Check if type info is available
if (discovery_database_->operator [](topic_name).second == false)
{
WARNING("Type " << topic_name << " has not been registered yet");
WARNING("Type " << topic_name << ": info not available yet");
throw InconsistencyException("Trying to create Data Reader in a non registered type: " + topic_name);
}

// Check if type is registered or not in participant. If not, register it
if (!participant_->find_type(type_name))
{
// __FLAG__
DEBUG("Type info not registered in participant for topic " << topic_name);
//////////////////////////

// Type information is available but not registered in participant
// Types manually loaded (through XML file) are registered in participant when loaded, so this case is not possible
Expand All @@ -204,6 +202,7 @@ void Participant::create_subscription(
dyn_type = DynamicTypeBuilderFactory::get_instance()->create_type_w_type_object(
type_object)->build();
TypeSupport dyn_type_support(new DynamicPubSubType(dyn_type));
dyn_type_support->set_name(type_name);
dyn_type_support.register_type(participant_);
}
else
Expand Down Expand Up @@ -307,9 +306,7 @@ void Participant::on_data_writer_discovery(

if (!info.type_information.assigned())
{
// __FLAG__
DEBUG("Type information not assigned for topic " << topic_name);
/////////////////////////////
// If type info is not assigned, check if it can be generated through a xml
on_topic_discovery_(topic_name, type_name);
}
Expand Down Expand Up @@ -360,9 +357,7 @@ void Participant::on_topic_discovery_(
const DataTypeId& type_id)
{
// TODO: check if mutex required
// __FLAG__
DEBUG("Calling on_topic_discovery with type id for topic " << topic_name);
/////////////////
bool is_already_discovered = false;

// Check if this topic has already been discovered
Expand All @@ -380,15 +375,9 @@ void Participant::on_topic_discovery_(
if (!is_already_discovered)
{
// Add topic as discovered and save its type name and its type identifier to build DynamicType when DataReader is created
// __FLAG__
DEBUG("Topic " << topic_name << " discovered with type id");
DEBUG("Updating databases...");
DEBUG("...Updating discovery database...");
discovery_database_->operator [](topic_name) = {type_name, true};
DEBUG("...Updating dynamic types info database...");
dyn_types_info_->operator [](topic_name) = {type_name, type_id};
DEBUG("...Databases updated");
/////////////////////////////////////////////
}

// Call listener callback to notify new topic
Expand Down
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