ddsfmu::Converter Struct Reference

Class with functions to convert between xtypes::DynamicData and fast-dds DynamicData.

#include <Converter.hpp>

Static Public Member Functions
static bool	xtypes_to_fastdds (const eprosima::xtypes::DynamicData &input, eprosima::fastrtps::types::DynamicData *output)
	Converts from xtypes to fastdds DynamicData. More...
static bool	fastdds_to_xtypes (const eprosima::fastrtps::types::DynamicData *input, eprosima::xtypes::DynamicData &output)
	Converts from fastdds to xtypes DynamicData. More...
static eprosima::xtypes::DynamicData	dynamic_data (const std::string &type_name)
	Retrieve a dynamic data instance given type name. More...
static void	register_type (const std::string &type_name, eprosima::fastrtps::types::DynamicPubSubType *type)
	Registers a fastdds pub sub type with provided type name. More...
static void	register_xtype (const std::string &type_name, const eprosima::xtypes::DynamicType &type)
	Registers a xtypes type with provided type name. More...
static eprosima::fastrtps::types::DynamicTypeBuilder *	create_builder (const eprosima::xtypes::DynamicType &type)
	Return fastdds DynamicTypeBuilder given xtypes DynamicType. More...
static std::string	convert_type_name (const std::string &message_type)
	Patches type names with '/' in their type name. More...
static const eprosima::xtypes::DynamicType &	resolve_discriminator_type (const eprosima::xtypes::DynamicType &service_type, const std::string &discriminator)
	Retrieve member type of aggregated type. More...
static eprosima::xtypes::WritableDynamicDataRef	access_member_data (eprosima::xtypes::WritableDynamicDataRef membered_data, const std::string &path)
	Retrieve a writable dynamic data reference member. More...
static void	clear_data_structures ()
	Clear converter data structures. More...

Member Function Documentation

access_member_data()

eprosima::xtypes::WritableDynamicDataRef ddsfmu::Converter::access_member_data ( eprosima::xtypes::WritableDynamicDataRef  membered_data, const std::string &  path  )

static

Recursively navigate dynamic data ref until leaf member is found. Returns the corresponding writable dynamic data reference.

Parameters

[in]	membered_data	Instance of data reference to search in
[in]	path	Path to member with '.' to separate members.

clear_data_structures()

static void ddsfmu::Converter::clear_data_structures ( )

inlinestatic

Clear internal std::maps. It is useful to call this before deleting DDS participants to avoid invalid reads of deleted log resources.

convert_type_name()

std::string ddsfmu::Converter::convert_type_name ( const std::string &  message_type )

static

Replaces '/' with "__" and returns the patched name.

Parameters

[in]

message_type

Type name

Returns

Patched type name

create_builder()

DynamicTypeBuilder * ddsfmu::Converter::create_builder ( const eprosima::xtypes::DynamicType &  type )

static

Retrieves a DynamicTypeBuilder and internally creates it if not already created by the DynamicTypeBuilderFactory. The xtypes dynamic type is converted into fast-dds dynamic type. This function makes necessary API calls to ensure that many xtypes type kinds are mapped out as analogous fast-dds dynamic types, including arrays, structured types, and union types.

Parameters

[in]

type

xtypes DynamicType for which to create a DynamicTypeBuilder

Returns

DynamicTypeBuilder pointer

dynamic_data()

eprosima::xtypes::DynamicData ddsfmu::Converter::dynamic_data ( const std::string &  type_name )

static

Get dynamic data given type name. This function looks up the dynamic typein a map of registered eprosima::xtypes::DynamicType::Ptr.

Parameters

[in]

type_name

Name of type to retrieve

Returns

Instance of DynamicData

fastdds_to_xtypes()

bool ddsfmu::Converter::fastdds_to_xtypes ( const eprosima::fastrtps::types::DynamicData *  input, eprosima::xtypes::DynamicData &  output  )

static

This function takes an fast-dds DynamicData pointer and converts it into an xtypes DynamicData reference. If the conversion is successful, the function returns true.

Parameters

[in]	input	fastdds DynamicData pointer
[out]	output	xtypes DynamicData reference

Returns

Boolean on result of operation

register_type()

static void ddsfmu::Converter::register_type ( const std::string &  type_name, eprosima::fastrtps::types::DynamicPubSubType *  type  )

inlinestatic

Registers DynamicPubSubType in a map, associating it with the given type name.

Parameters

[in]	type_name	Name of type to register
[in]	type	Pointer to dynamic type to be registered

register_xtype()

static void ddsfmu::Converter::register_xtype ( const std::string &  type_name, const eprosima::xtypes::DynamicType &  type  )

inlinestatic

Registers DynamicType in a map, associating it with the given type name.

Parameters

[in]	type_name	Name of type to register
[in]	type	Reference to dynamic type to be registered

resolve_discriminator_type()

const xtypes::DynamicType & ddsfmu::Converter::resolve_discriminator_type ( const eprosima::xtypes::DynamicType &  service_type, const std::string &  discriminator  )

static

Iteratively resolves member types in discriminator string until deepest member is found. The members are separated by '.'. Returns the DynamicType of this member.

Parameters

[in]	service_type	Type with member type
[in]	discriminator	Nested name of member

Returns

Resolved DynamicType

xtypes_to_fastdds()

bool ddsfmu::Converter::xtypes_to_fastdds ( const eprosima::xtypes::DynamicData &  input, eprosima::fastrtps::types::DynamicData *  output  )

static

This function takes an xtypes DynamicData reference and converts it into a fast-dds DynamicData pointer. If the conversion is successful, the function returns true.

Parameters

[in]	input	xtypes DynamicData reference
[out]	output	fastdds DynamicData pointer

Returns

Boolean on result of operation