feat(LibCarla/ros2): add GenericCdrPubSubType, wire FastDDS middleware to CDR, add 6 tests

Replace 30 fastddsgen-generated PubSubType classes (and FastDDSTypeMap.h) with
a single GenericCdrPubSubType<T> template that implements TopicDataType by
delegating serialize()/deserialize() to CdrSerialization.h, and type_name()/
m_typeSize to CdrTopicInfo<T>.

Rewrite FastDDSPublisherMiddleware and FastDDSSubscriberMiddleware to use
GenericCdrPubSubType instead of FastDDSTypeMap. Remove to_fastdds()/from_fastdds()
conversion calls. Publishers now pass the POD msg pointer directly to
DataWriter::write(); subscribers receive CDR payloads directly into _message_ptr.

Add 6 generic_cdr_pubsubtype tests covering: type name contract, m_typeSize,
serialize/deserialize round-trip via SerializedPayload_t (fixed-size and string
types), createData/deleteData, and getKey(). Update cmake/test/CMakeLists.txt
to also link libfastrtps.a and libfoonathan_memory (required by TopicDataType
static initializers). Server test count: 111 to 117.

Author: JesusAnaya

LibCarla/cmake/test/CMakeLists.txt

@@ -54,13 +54,15 @@ foreach(target ${build_targets})
   target_include_directories(${target} PRIVATE
       "${libcarla_source_path}/test")
 
-  # Server tests exercise CDR serialization (CdrSerialization.h) which
-  # requires Fast-CDR headers and the libfastcdr runtime.  Enable exceptions
-  # for this target because Fast-CDR templates use try/catch internally.
+  # Server tests exercise CDR serialization (CdrSerialization.h) and
+  # GenericCdrPubSubType (inherits TopicDataType from fastrtps).
+  # Enable exceptions because Fast-CDR templates use try/catch internally.
   if (CMAKE_BUILD_TYPE STREQUAL "Server")
     target_include_directories(${target} SYSTEM PRIVATE "${FASTDDS_INCLUDE_PATH}")
     target_compile_options(${target} PRIVATE -fexceptions)
+    target_link_libraries(${target} "${FASTDDS_LIB_PATH}/libfastrtps.a")
     target_link_libraries(${target} "${FASTDDS_LIB_PATH}/libfastcdr.a")
+    target_link_libraries(${target} "${FASTDDS_LIB_PATH}/libfoonathan_memory-0.7.3.a")
   endif()
 
   if (WIN32)

LibCarla/source/carla/ros2/dds/fastdds/FastDDSPublisherMiddleware.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include "carla/ros2/dds/IDDSPublisherMiddleware.h"
-#include "carla/ros2/dds/fastdds/FastDDSTypeMap.h"
+#include "carla/ros2/dds/fastdds/GenericCdrPubSubType.h"
 #include "carla/Logging.h"
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -30,17 +30,14 @@ using erc = eprosima::fastrtps::types::ReturnCode_t;
 
 /// FastDDS implementation of IDDSPublisherMiddleware.
 /// Parameterized on a traits type T that provides:
-///   T::msg_type  — the message type
-/// Native FastDDS types are resolved via FastDDSTypeMap<T::msg_type>.
+///   T::msg_type  — the message type (a carla::ros2::msg::* POD struct)
+/// Serialization is handled by GenericCdrPubSubType<msg_type> via CdrSerialization.h.
 template<typename T>
 class FastDDSPublisherMiddleware
     : public IDDSPublisherMiddleware,
       public eprosima::fastdds::dds::DataWriterListener {
  public:
   using msg_type = typename T::msg_type;
-  using type_map = FastDDSTypeMap<msg_type>;
-  using fastdds_type = typename type_map::fastdds_type;
-  using fastdds_pubsub_type = typename type_map::fastdds_pubsub_type;
 
   void on_publication_matched(
       efd::DataWriter* writer,
@@ -108,10 +105,8 @@ class FastDDSPublisherMiddleware
   }
 
   bool Publish(void* message_data) override {
-    auto* msg = static_cast<msg_type*>(message_data);
-    to_fastdds(*msg, _fastdds_msg);
     eprosima::fastrtps::rtps::InstanceHandle_t instance_handle;
-    erc rcode = _datawriter->write(&_fastdds_msg, instance_handle);
+    erc rcode = _datawriter->write(message_data, instance_handle);
     if (rcode == erc::ReturnCodeValue::RETCODE_OK) {
       return true;
     }
@@ -133,11 +128,10 @@ class FastDDSPublisherMiddleware
   efd::Publisher*         _publisher   { nullptr };
   efd::Topic*             _topic       { nullptr };
   efd::DataWriter*        _datawriter  { nullptr };
-  efd::TypeSupport        _type        { new fastdds_pubsub_type() };
+  efd::TypeSupport        _type        { new GenericCdrPubSubType<msg_type>() };
 
-  fastdds_type _fastdds_msg;
-  std::string  _topic_name;
-  bool         _alive { false };
+  std::string _topic_name;
+  bool        _alive { false };
 };
 
 } // namespace ros2

LibCarla/source/carla/ros2/dds/fastdds/FastDDSSubscriberMiddleware.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include "carla/ros2/dds/IDDSSubscriberMiddleware.h"
-#include "carla/ros2/dds/fastdds/FastDDSTypeMap.h"
+#include "carla/ros2/dds/fastdds/GenericCdrPubSubType.h"
 #include "carla/Logging.h"
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -31,17 +31,14 @@ using erc = eprosima::fastrtps::types::ReturnCode_t;
 
 /// FastDDS implementation of IDDSSubscriberMiddleware.
 /// Parameterized on traits type S that provides:
-///   S::msg_type  — the message type
-/// Native FastDDS types are resolved via FastDDSTypeMap<S::msg_type>.
+///   S::msg_type  — the message type (a carla::ros2::msg::* POD struct)
+/// Deserialization is handled by GenericCdrPubSubType<msg_type> via CdrSerialization.h.
 template<typename S>
 class FastDDSSubscriberMiddleware
     : public IDDSSubscriberMiddleware,
       public eprosima::fastdds::dds::DataReaderListener {
  public:
   using msg_type = typename S::msg_type;
-  using type_map = FastDDSTypeMap<msg_type>;
-  using fastdds_type = typename type_map::fastdds_type;
-  using fastdds_pubsub_type = typename type_map::fastdds_pubsub_type;
 
   void on_subscription_matched(
       efd::DataReader* reader,
@@ -51,9 +48,8 @@ class FastDDSSubscriberMiddleware
 
   void on_data_available(efd::DataReader* reader) override {
     efd::SampleInfo info;
-    erc rcode = reader->take_next_sample(&_fastdds_msg, &info);
+    erc rcode = reader->take_next_sample(_message_ptr, &info);
     if (rcode == erc::ReturnCodeValue::RETCODE_OK) {
-      from_fastdds(_fastdds_msg, *_message_ptr);
       *_new_message_ptr = true;
     } else {
       log_error("FastDDSSubscriberMiddleware::on_data_available (",
@@ -137,11 +133,10 @@ class FastDDSSubscriberMiddleware
   efd::Subscriber*        _subscriber  { nullptr };
   efd::Topic*             _topic       { nullptr };
   efd::DataReader*        _datareader  { nullptr };
-  efd::TypeSupport        _type        { new fastdds_pubsub_type() };
+  efd::TypeSupport        _type        { new GenericCdrPubSubType<msg_type>() };
 
-  fastdds_type _fastdds_msg;
-  msg_type*    _message_ptr     { nullptr };
-  bool*        _new_message_ptr { nullptr };
+  msg_type* _message_ptr     { nullptr };
+  bool*     _new_message_ptr { nullptr };
 
   std::string _topic_name;
   bool        _alive { false };