eProsima
diff --git a/‎resources/Custom.stg‎
Lines changed: 1 addition & 1 deletion b/‎resources/Custom.stg‎
Lines changed: 1 addition & 1 deletion
diff --git a/‎src/main/java/com/eprosima/fastcdr/idl/context/Context.java‎
Lines changed: 2 additions & 2 deletions b/‎src/main/java/com/eprosima/fastcdr/idl/context/Context.java‎
Lines changed: 2 additions & 2 deletions
diff --git a/‎src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg‎
Lines changed: 2 additions & 14 deletions b/‎src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg‎
Lines changed: 2 additions & 14 deletions
diff --git a/‎src/main/java/com/eprosima/fastdds/fastddsgen.java‎
Lines changed: 60 additions & 44 deletions b/‎src/main/java/com/eprosima/fastdds/fastddsgen.java‎
Lines changed: 60 additions & 44 deletions
diff --git a/‎src/main/java/com/eprosima/fastdds/idl/grammar/Context.java‎
Lines changed: 11 additions & 11 deletions b/‎src/main/java/com/eprosima/fastdds/idl/grammar/Context.java‎
Lines changed: 11 additions & 11 deletions
diff --git a/‎src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg‎
Lines changed: 22 additions & 3 deletions b/‎src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg‎
Lines changed: 22 additions & 3 deletions
@@ -84,7 +84,7 @@ string_type(ctx, string) ::= <<>>
 
 wide_string_type(ctx, wstring) ::= <<>>
 
-array_declarator(ctx, array, array_type) ::= <<>>
+array_declarator(ctx, array) ::= <<>>
 
 interface(ctx, parent, interface, export_list) ::= <<>>
 
 
@@ -39,10 +39,10 @@ public interface Context
 
     public String getHeaderGuardName ();
 
-    public boolean isGenerateTypeObject();
-
     public boolean isGenerateTypesROS2();
 
+    public boolean isGenerateTypeObjectSupport();
+
     public boolean isCdr();
 
     public boolean isFastcdr();
 
@@ -56,10 +56,6 @@ $endif$
 
 $ctx.directIncludeDependencies : {include | #include "$include$.hpp"}; separator="\n"$
 
-$if(ctx.generateTypeObject)$
-#include "$ctx.filename$TypeObject.h"
-$endif$
-
 #if defined(_WIN32)
 #if defined(EPROSIMA_USER_DLL_EXPORT)
 #define eProsima_user_DllExport __declspec( dllexport )
@@ -104,9 +100,9 @@ $if(annotation.enums || annotation.typeDefs || annotation.constDecls)$
 namespace $annotation.name$ {
     $annotation.enums : { enum | $enum_type(ctx=ctx, parent=annotation, enum=enum)$}; separator="\n"$
 
-    $annotation.typeDefs : { typedef | $typedef_decl(ctx=ctx, parent=annotation, typedefs=typedef)$}; separator="\n"$
+    $annotation.typeDefs : { typedef | $typedef_decl(ctx=ctx, parent=annotation, typedefs=typedef, typedefs_type="", declarator_type="")$}; separator="\n"$
 
-    $annotation.constDecls : { const | $const_decl(ctx=ctx, parent=annotation, const=const)$}; separator="\n"$
+    $annotation.constDecls : { const | $const_decl(ctx=ctx, parent=annotation, const=const, const_type="")$}; separator="\n"$
 
 } // namespace $annotation.name$
 $endif$
@@ -157,10 +153,6 @@ public:
         : $struct_inherit_default_init(struct.inheritance)$
         $endif$
     {
-        $if(ctx.generateTypeObject)$
-        // Just to register all known types
-        register$ctx.filename$Types();
-        $endif$
     }
 
     /*!
@@ -491,10 +483,6 @@ public:
     : $struct_inherit_default_init(bitset.inheritance)$
     $endif$
     {
-        $if(ctx.generateTypeObject)$
-        // Just to register all known types
-        register$ctx.filename$Types();
-        $endif$
     }
 
     /*!
 
@@ -107,9 +107,6 @@ public class fastddsgen
     // Generates type naming compatible with ROS 2
     private boolean m_type_ros2 = false;
 
-    // Generate TypeObject files?
-    private boolean m_type_object_files = false;
-
     // Generate string and sequence types compatible with C?
     private boolean m_typesc = false;
 
@@ -144,6 +141,9 @@ public enum LANGUAGE
     // Specifies whether the dependent IDL files should be processed.
     private boolean generate_dependencies_ = true;
 
+    // Specifies whether the TypeObject Support files should be generated.
+    private boolean generate_typeobjectsupport_ = true;
+
     /*
      * ----------------------------------------------------------------------------------------
      *
@@ -307,11 +307,16 @@ else if (languageOption.equalsIgnoreCase("java"))
             else if (arg.equals(no_typesupport_arg))
             {
                 generate_typesupport_ = false;
+                generate_typeobjectsupport_ = false;
             }
             else if (arg.equals(no_dependencies_arg))
             {
                 generate_dependencies_ = false;
             }
+            else if (arg.equals(no_typeobjectsupport_arg))
+            {
+                generate_typeobjectsupport_ = false;
+            }
             else if (arg.equals(package_arg))
             {
                 if (count < args.length)
@@ -361,10 +366,6 @@ else if (arg.equals(execute_test_arg))
             {
                 m_test = true;
             }
-            else if (arg.equals(typeobject_arg))
-            {
-                m_type_object_files = true;
-            }
             else if (arg.equals(ros2_names_arg))
             {
                 m_type_ros2 = true;
@@ -579,6 +580,7 @@ private void showVersion()
     private static final String include_path_arg = "-I";
     private static final String language_arg = "-language";
     private static final String no_typesupport_arg = "-no-typesupport";
+    private static final String no_typeobjectsupport_arg = "-no-typeobjectsupport";
     private static final String no_dependencies_arg = "-no-dependencies";
     private static final String package_arg = "-package";
     private static final String disable_preprocessor_arg = "-ppDisable";
@@ -628,15 +630,15 @@ public static void printHelp()
         System.out.println("\t\t" + include_path_arg + " <path>: add directory to preprocessor include paths.");
         System.out.println("\t\t" + language_arg + " <lang>: chooses between <c++> or <java> languages.");
         System.out.println("\t\t" + no_typesupport_arg + ": avoid generating the type support files.");
+        System.out.println("\t\t" + no_typeobjectsupport_arg + ": avoid generating the TypeObject support specific files.");
+        System.out.println("\t\t\tEnabled automatically if " + no_typesupport_arg + " argument is used.");
         System.out.println("\t\t" + no_dependencies_arg + ": avoid processing the dependent IDL files.");
         System.out.println("\t\t" + package_arg + ": default package used in Java files.");
         System.out.println("\t\t" + disable_preprocessor_arg + ": disables the preprocessor.");
         System.out.println("\t\t" + preprocessor_path_arg + ": specifies the preprocessor path.");
         System.out.println("\t\t" + python_bindings_arg + ": generates python bindings for the generated types.");
         System.out.println("\t\t" + replace_arg + ": replaces existing generated files.");
         System.out.println("\t\t" + temp_dir_arg + " <temp dir>: sets a specific directory as a temporary directory.");
-        System.out.print("\t\t" + typeobject_arg + ": generates TypeObject files to automatically register the ");
-        System.out.println("types as dynamic.");
         System.out.println("\t\t" + cnames_arg + ": generates string and sequence types compatible with C.");
         System.out.println("\t\t" + ros2_names_arg + ": generates type naming compatible with ROS2.");
         System.out.println("\t\t" + version_arg + ": shows the current version of eProsima Fast DDS gen.");
@@ -730,7 +732,7 @@ private Project parseIDL(
             TemplateManager tmanager = new TemplateManager();
 
             Context ctx = new Context(tmanager, idlFilename, m_includePaths, m_subscribercode, m_publishercode,
-                            m_localAppProduct, m_type_object_files, m_typesc, m_type_ros2, gen_api_);
+                            m_localAppProduct, m_typesc, m_type_ros2, gen_api_, generate_typeobjectsupport_);
 
             String relative_dir = ctx.getRelativeDir(dependant_idl_dir);
             String output_dir;
@@ -769,11 +771,6 @@ private Project parseIDL(
             // Load common types template
             tmanager.addGroup("com/eprosima/fastcdr/idl/templates/TypesHeader.stg").enable_custom_property(
                     Context.using_explicitly_modules_custom_property);
-            if (m_type_object_files)
-            {
-                tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypeObjectHeader.stg");
-                tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypeObjectSource.stg");
-            }
 
             // Load Types common templates
             if (generate_typesupport_)
@@ -782,6 +779,12 @@ private Project parseIDL(
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg");
+
+                if (generate_typeobjectsupport_)
+                {
+                    tmanager.addGroup("com/eprosima/fastdds/idl/templates/XTypesTypeObjectHeader.stg");
+                    tmanager.addGroup("com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg");
+                }
             }
 
             if (m_exampleOption != null)
@@ -804,6 +807,12 @@ private Project parseIDL(
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/SerializationTestSource.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/SerializationHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/SerializationSource.stg");
+
+                if (generate_typeobjectsupport_)
+                {
+                    // Load TypeObjectSupport test template
+                    tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypeObjectTestingTestSource.stg");
+                }
             }
 
             // Add JNI sources.
@@ -852,8 +861,7 @@ private Project parseIDL(
                 lexer.setContext(ctx);
                 CommonTokenStream tokens = new CommonTokenStream(lexer);
                 IDLParser parser = new IDLParser(tokens);
-                // Pass the finelame without the extension
-
+                // Pass the filename without the extension
                 Specification specification = parser.specification(ctx, tmanager, maintemplates).spec;
                 returnedValue = specification != null && !tmanager.get_st_error();;
 
@@ -909,32 +917,17 @@ private Project parseIDL(
                         maintemplates.getTemplate("com/eprosima/fastcdr/idl/templates/TypesHeader.stg"),
                         m_replace)))
                 {
-                   project.addCommonIncludeFile(relative_dir + ctx.getFilename() + ".hpp");
-
-                   if (m_type_object_files)
-                   {
-                       System.out.println("Generating TypeObject files...");
-                       if (returnedValue = Utils.writeFile(output_dir + ctx.getFilename() + "TypeObject.h",
-                                   maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypeObjectHeader.stg"), m_replace))
-                       {
-                           if (returnedValue = Utils.writeFile(output_dir + ctx.getFilename() + "TypeObject.cxx",
-                                       maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypeObjectSource.stg"), m_replace))
-                           {
-                               project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "TypeObject.h");
-                               project.addCommonSrcFile(relative_dir + ctx.getFilename() + "TypeObject.cxx");
-                           }
-                       }
-                   }
-                   if (m_python)
-                   {
-                       System.out.println("Generating Swig interface files...");
-                       if (returnedValue =
-                               Utils.writeFile(output_dir + ctx.getFilename() + ".i",
-                                   maintemplates.getTemplate("com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg"), m_replace))
-                       {
-
-                       }
-                   }
+                    project.addCommonIncludeFile(relative_dir + ctx.getFilename() + ".hpp");
+
+                    if (m_python)
+                    {
+                        System.out.println("Generating Swig interface files...");
+                        if (returnedValue =
+                                Utils.writeFile(output_dir + ctx.getFilename() + ".i",
+                                    maintemplates.getTemplate("com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg"), m_replace))
+                        {
+                        }
+                    }
                 }
 
                 if (m_test)
@@ -961,11 +954,34 @@ private Project parseIDL(
                         String trimmedElement = element.substring(0, element.length() - 4);// Remove .idl
                         project.addCommonTestingFile(trimmedElement + "Serialization.cpp");
                     }
+
+                    if (generate_typeobjectsupport_)
+                    {
+                        System.out.println("Generating TypeObjects Test file...");
+                        String fileNameTO = output_dir + ctx.getFilename() + "TypeObjectTestingTest.cpp";
+                        returnedValue = Utils.writeFile(fileNameTO, maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypeObjectTestingTestSource.stg"), m_replace);
+                        project.addTypeObjectTestingFile(relative_dir + ctx.getFilename() + "TypeObjectTestingTest.cpp");
+                    }
                 }
 
                 System.out.println("Generating Type Support files...");
                 if (generate_typesupport_)
                 {
+                    if (generate_typeobjectsupport_)
+                    {
+                        System.out.println("Generating TypeObjectSupport files...");
+                        if (returnedValue &= Utils.writeFile(output_dir + ctx.getFilename() + "TypeObjectSupport.hpp",
+                                maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/XTypesTypeObjectHeader.stg"), m_replace))
+                        {
+                            if (returnedValue &= Utils.writeFile(output_dir + ctx.getFilename() + "TypeObjectSupport.cxx",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg"), m_replace))
+                            {
+                                project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "TypeObjectSupport.hpp");
+                                project.addCommonSrcFile(relative_dir + ctx.getFilename() + "TypeObjectSupport.cxx");
+                            }
+                        }
+                    }
+
                     if (ctx.isThereIsStructOrUnion())
                     {
                         if (returnedValue &=
@@ -1669,7 +1685,7 @@ public void run()
                 }
                 else
                 {
-                    // Sustituir los "\\" que pone cl.exe por "\"
+                    // Substitute "\\" added by cl.exe for "\"
                     if (line.startsWith(clLine))
                     {
                         line = "#" + line.substring(clLine.length());
 
@@ -61,10 +61,10 @@ public Context(
             boolean subscribercode,
             boolean publishercode,
             String appProduct,
-            boolean generate_type_object,
             boolean generate_typesc,
             boolean generate_type_ros2,
-            boolean is_generating_api
+            boolean is_generating_api,
+            boolean generate_typeobjectsupport
             )
     {
         super(tmanager, file, includePaths, generate_typesc);
@@ -78,13 +78,13 @@ public Context(
         //m_protocol = protocol;
         //m_ddstypes = ddstypes;
 
-        m_type_object = generate_type_object;
         m_type_ros2 = generate_type_ros2;
         is_generating_api_ = is_generating_api;
+        generate_typeobject_support_ = generate_typeobjectsupport;
 
         // Create default @Key annotation.
-        AnnotationDeclaration keyann = this.createAnnotationDeclaration("Key", null);
-        keyann.addMember(new AnnotationMember("value", new PrimitiveTypeCode(Kind.KIND_BOOLEAN), "true"));
+        AnnotationDeclaration keyann = this.createAnnotationDeclaration(Annotation.eprosima_key_str, null);
+        keyann.addMember(new AnnotationMember(Annotation.value_str, new PrimitiveTypeCode(Kind.KIND_BOOLEAN), Annotation.true_str));
 
     }
 
@@ -565,20 +565,20 @@ public String getPackageUnder()
 
     private TypeDeclaration m_lastStructure = null;
 
-    private boolean m_type_object = false;
-
     private boolean m_type_ros2 = false;
 
+    private boolean generate_typeobject_support_ = true;
+
     @Override
-    public boolean isGenerateTypeObject()
+    public boolean isGenerateTypesROS2()
     {
-        return m_type_object;
+        return m_type_ros2;
     }
 
     @Override
-    public boolean isGenerateTypesROS2()
+    public boolean isGenerateTypeObjectSupport()
     {
-        return m_type_ros2;
+        return generate_typeobject_support_;
     }
 
     public String getHeaderGuardName ()
 
@@ -43,19 +43,23 @@ find_package(fastrtps 2.12 REQUIRED)
 
 $solution.projects : { project | $pub_sub_execs(project=project, libraries=solution.libraries, test=test)$}; separator="\n"$
 
+$if (test)$
+$type_object_tests(project=solution.mainProject, libraries=solution.libraries)$
+$endif$
+
 >>
 
 pub_sub_execs(project, libraries, test) ::= <<
 
 message(STATUS "Configuring $project.name$...")
 $if(!project.commonSrcFiles.empty)$
 add_library($project.name$_lib $project.commonSrcFiles : { file | $file$}; separator=" "$)
-target_link_libraries($project.name$_lib $solution.libraries : { library | $library$}; separator=" "$)
+target_link_libraries($project.name$_lib $libraries : { library | $library$}; separator=" "$)
 $endif$
 
 $if(!project.projectSrcFiles.empty)$
 add_executable($project.name$ $project.projectSrcFiles : { file | $file$}; separator=" "$)
-target_link_libraries($project.name$ $solution.libraries : { library | $library$}; separator=" "$
+target_link_libraries($project.name$ $libraries : { library | $library$}; separator=" "$
         $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$
         )
 $endif$
@@ -77,11 +81,26 @@ add_executable($project.name$SerializationTest
 )
 target_link_libraries($project.name$SerializationTest
         GTest::gtest_main
-        $solution.libraries : { library | $library$}; separator=" "$
+        $libraries : { library | $library$}; separator=" "$
         $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$
         )
 gtest_discover_tests($project.name$SerializationTest)
 
 $endif$
 
+
+>>
+
+type_object_tests(project, libraries) ::= <<
+$if(project.typeObjectTestingFiles)$
+# $project.name$ TypeObject Test
+add_executable($project.name$TypeObjectTestingTest
+        $project.typeObjectTestingFiles : { file | $file$}; separator="\n"$
+)
+target_link_libraries($project.name$TypeObjectTestingTest
+        GTest::gtest_main
+        $libraries : { library | $library$}; separator=" "$
+        $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$)
+gtest_discover_tests($project.name$TypeObjectTestingTest)
+$endif$
 >>