Merge branch 'release/7.3.0' into develop

alexcamposruiz · alexcamposruiz · commit 88a64f3fb7d3 · 2024-04-02T15:51:51.000-07:00
diff --git a/.github/workflows/lint_markdown.yml b/.github/workflows/lint_markdown.yml
@@ -9,13 +9,15 @@ on:
     branches:
       - master
       - develop
+      - release/*
     paths:
       - '**/*.md'
 
   pull_request:
     branches:
       - master
       - develop
+      - release/*
     paths:
       - '**/*.md'
 
diff --git a/.github/workflows/lint_python.yml b/.github/workflows/lint_python.yml
@@ -9,13 +9,15 @@ on:
     branches:
       - master
       - develop
+      - release/*
     paths:
       - '**/*.py'
 
   pull_request:
     branches:
       - master
       - develop
+      - release/*
     paths:
       - '**/*.py'
 
diff --git a/.github/workflows/lint_source.yml b/.github/workflows/lint_source.yml
@@ -9,6 +9,7 @@ on:
     branches:
       - master
       - develop
+      - release/*
     paths:
       - '**/*.[ch]x?x?'
       - '**/*.java'
diff --git a/README.md b/README.md
@@ -1,7 +1,5 @@
 # rticonnextdds-examples
 
-[![Build and run static analysis](https://github.com/rticommunity/rticonnextdds-examples/actions/workflows/build.yml/badge.svg?branch=master)](https://github.com/rticommunity/rticonnextdds-examples/actions/workflows/build.yml)
-
 This repository includes examples on how to use specific features of RTI
 Connext DDS.
 
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-latest
+7.3.0
diff --git a/examples/cloud_discovery_service/library_api/c++11/README.md b/examples/cloud_discovery_service/library_api/c++11/README.md
@@ -112,6 +112,30 @@ you want to link against. For example:
 cmake -DCONNEXTDDS_ARCH=x64Linux3gcc5.4.0 ..
 ```
 
+### Cross-compilation
+
+When you need to cross-compile the example, the above
+command will not work, the assigned compiler won't be the cross-compiler and
+errors may happen when linking against the cross-compiled Connext binaries.
+To fix this, you have to create a file with the architecture name and call
+CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
+An example of the file to create with the toolchain settings (e.g. for an
+ARM architectures):
+
+```cmake
+set(CMAKE_SYSTEM_NAME Linux)
+set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
+set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
+```
+
+Then you can call CMake like this:
+
+```bash
+    cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
+            -DCONNEXTDDS_ARCH=<connext architecture> ..
+```
+
 ### CMake Build Infrastructure
 
 The `CMakeListst.txt` script that builds this example uses a generic CMake
diff --git a/examples/cloud_discovery_service/library_api/c/README.md b/examples/cloud_discovery_service/library_api/c/README.md
@@ -112,9 +112,33 @@ you want to link against. For example:
 cmake -DCONNEXTDDS_ARCH=x64Linux3gcc5.4.0 ..
 ```
 
+### Cross-compilation
+
+When you need to cross-compile the example, the above
+command will not work, the assigned compiler won't be the cross-compiler and
+errors may happen when linking against the cross-compiled Connext binaries.
+To fix this, you have to create a file with the architecture name and call
+CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
+An example of the file to create with the toolchain settings (e.g. for an
+ARM architectures):
+
+```cmake
+set(CMAKE_SYSTEM_NAME Linux)
+set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
+set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
+```
+
+Then you can call CMake like this:
+
+```bash
+    cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
+            -DCONNEXTDDS_ARCH=<connext architecture> ..
+```
+
 ### CMake Build Infrastructure
 
-The `CMakeListst.txt` script that builds this example uses a generic CMake
+The `CMakeLists.txt` script that builds this example uses a generic CMake
 function called `connextdds_add_example` that defines all the necessary constructs
 to:
 
diff --git a/examples/connext_dds/keyed_data/c++11/keys_subscriber.cxx b/examples/connext_dds/keyed_data/c++11/keys_subscriber.cxx
@@ -35,12 +35,8 @@ int process_data(dds::sub::DataReader<keys> reader)
                       << ", x: " << sample.data().x()
                       << ", y: " << sample.data().y() << std::endl;
         } else {
-            // Since there is not valid data, it may include metadata.
             keys sample;
             reader.key_value(sample, info.instance_handle());
-
-            // Here we print a message if the instance state is
-            // 'not_alive_no_writers' or 'not_alive_disposed'.
             const dds::sub::status::InstanceState &state =
                     info.state().instance_state();
             if (state
@@ -50,7 +46,10 @@ int process_data(dds::sub::DataReader<keys> reader)
             } else if (
                     state
                     == dds::sub::status::InstanceState::not_alive_disposed()) {
-                std::cout << "Instance " << sample.code() << " disposed"
+                std::cout << "Instance " << sample.code() << " is disposed"
+                          << std::endl;
+            } else {
+                std::cout << "Instance " << sample.code() << " is alive"
                           << std::endl;
             }
         }
diff --git a/examples/connext_dds/keyed_data/c++98/keys_subscriber.cxx b/examples/connext_dds/keyed_data/c++98/keys_subscriber.cxx
@@ -55,7 +55,7 @@ unsigned int process_data(keysDataReader *typed_reader)
 
             samples_read++;
         } else {
-            /* Since there is not valid data, it may include metadata */
+            /* An invalid sample can be in any instance state. */
             keys dummy;
             retcode = typed_reader->get_key_value(
                     dummy,
@@ -64,16 +64,18 @@ unsigned int process_data(keysDataReader *typed_reader)
                 std::cout << "get_key_value error " << retcode << std::endl;
                 continue;
             }
-
-            /* Here we print a message if the instance state is ALIVE_NO_WRITERS
-             * or ALIVE_DISPOSED */
             if (info_seq[i].instance_state
                 == DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE) {
-                std::cout << "Instance " << dummy.code << " has no writers\n";
+                std::cout << "Instance " << dummy.code << " has no writers"
+                          << std::endl;
             } else if (
                     info_seq[i].instance_state
                     == DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE) {
-                std::cout << "Instance " << dummy.code << " disposed\n";
+                std::cout << "Instance " << dummy.code << " is disposed"
+                          << std::endl;
+            } else {
+                std::cout << "Instance " << dummy.code << " is alive"
+                          << std::endl;
             }
         }
         /* End changes for Keyed_Data */
diff --git a/examples/connext_dds/keyed_data/c/keys_subscriber.c b/examples/connext_dds/keyed_data/c/keys_subscriber.c
@@ -148,26 +148,25 @@ void keysListener_on_data_available(void *listener_data, DDS_DataReader *reader)
             printf("Instance %d: x: %d, y: %d\n", data->code, data->x, data->y);
 
         } else {
-            /* Since there is not valid data, it may include metadata */
-            keys dummy;
+            /* An invalid data sample can be in any instance state. */
+            keys key_value;
             retcode = keysDataReader_get_key_value(
                     keys_reader,
-                    &dummy,
+                    &key_value,
                     &info->instance_handle);
             if (retcode != DDS_RETCODE_OK) {
                 printf("get_key_value error %d\n", retcode);
                 continue;
             }
-
-            /* Here we print a message if the instance state is ALIVE_NO_WRITERS
-             * or ALIVE_DISPOSED */
             if (info->instance_state
                 == DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE) {
-                printf("Instance %d has no writers\n", dummy.code);
+                printf("Instance %d has no writers\n", key_value.code);
             } else if (
                     info->instance_state
                     == DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE) {
-                printf("Instance %d disposed\n", dummy.code);
+                printf("Instance %d is disposed\n", key_value.code);
+            } else {
+                printf("Instance %d is alive\n", key_value.code);
             }
         }
         /* End changes for Keyed_Data */
diff --git a/examples/connext_dds/keyed_data/java/keysPublisher.java b/examples/connext_dds/keyed_data/java/keysPublisher.java
@@ -105,7 +105,7 @@ private void runApplication()
         instance[2].code = 2;
 
         // The keys must have been set before making this call
-        System.out.println("Registering instance" + instance[0].code);
+        System.out.println("Registering instance " + instance[0].code);
         handle[0] = writer.register_instance(instance[0]);
 
         // Modify the data to be sent here
diff --git a/examples/connext_dds/keyed_data/java/keysSubscriber.java b/examples/connext_dds/keyed_data/java/keysSubscriber.java
@@ -67,12 +67,8 @@ private int processData()
                             "Instance " + sample.code + ": x: " + sample.x
                             + ", y: " + sample.y + "\n");
                 } else {
-                    // Since there is not valid data, it may include metadata
                     keys dummy = new keys();
                     reader.get_key_value(dummy, info.instance_handle);
-
-                    // Here we print a message if the instance state is
-                    // ALIVE_NO_WRITERS or ALIVE_DISPOSED
                     if (info.instance_state
                         == InstanceStateKind
                                    .NOT_ALIVE_NO_WRITERS_INSTANCE_STATE) {
@@ -83,7 +79,10 @@ private int processData()
                             == InstanceStateKind
                                        .NOT_ALIVE_DISPOSED_INSTANCE_STATE) {
                         System.out.print(
-                                "Instance " + dummy.code + " disposed\n");
+                                "Instance " + dummy.code + " is disposed\n");
+                    } else {
+                        System.out.print(
+                                "Instance " + dummy.code + " is alive\n");
                     }
                 }
                 samplesRead++;
diff --git a/examples/persistence_service/library_api/c/README.md b/examples/persistence_service/library_api/c/README.md
@@ -117,6 +117,30 @@ you want to link against. For example:
 cmake -DCONNEXTDDS_ARCH=x64Linux3gcc5.4.0 ..
 ```
 
+### Cross-compilation
+
+When you need to cross-compile the example, the above
+command will not work, the assigned compiler won't be the cross-compiler and
+errors may happen when linking against the cross-compiled Connext binaries.
+To fix this, you have to create a file with the architecture name and call
+CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
+An example of the file to create with the toolchain settings (e.g. for an
+ARM architectures):
+
+```cmake
+set(CMAKE_SYSTEM_NAME Linux)
+set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
+set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
+```
+
+Then you can call CMake like this:
+
+```bash
+    cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
+            -DCONNEXTDDS_ARCH=<connext architecture> ..
+```
+
 ### CMake Build Infrastructure
 
 The `CMakeListst.txt` script that builds this example uses a generic CMake
diff --git a/examples/persistence_service/persistent_storage/c++11/README.md b/examples/persistence_service/persistent_storage/c++11/README.md
@@ -226,6 +226,30 @@ you want to link against. For example:
 cmake -DCONNEXTDDS_ARCH=x64Linux3gcc5.4.0 ..
 ```
 
+### Cross-compilation
+
+When you need to cross-compile the example, the above
+command will not work, the assigned compiler won't be the cross-compiler and
+errors may happen when linking against the cross-compiled Connext binaries.
+To fix this, you have to create a file with the architecture name and call
+CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
+An example of the file to create with the toolchain settings (e.g. for an
+ARM architectures):
+
+```cmake
+set(CMAKE_SYSTEM_NAME Linux)
+set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
+set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
+```
+
+Then you can call CMake like this:
+
+```bash
+    cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
+            -DCONNEXTDDS_ARCH=<connext architecture> ..
+```
+
 ### CMake Build Infrastructure
 
 The `CMakeListst.txt` script that builds this example uses a generic CMake
diff --git a/examples/recording_service/pluggable_storage/c/FileStorageReader.c b/examples/recording_service/pluggable_storage/c/FileStorageReader.c
@@ -442,9 +442,23 @@ void FileStorageStreamReader_read(
     struct FileStorageStreamReader *stream_reader =
             (struct FileStorageStreamReader *) stream_reader_data;
     int i = 0;
-    long long timestamp_limit =
-            (long long) selector->time_range_end.sec * NANOSECS_PER_SEC
-            + selector->time_range_end.nanosec;
+    /*
+     * If the last sample was already provided and we are at the end of the file
+     * we will skip the read operation in order to finalize the execution.
+     */
+    if (stream_reader->current_timestamp == INT64_MAX
+        && feof(stream_reader->file_record.file)) {
+        *count = 0;
+        return;
+    }
+    DDS_LongLong timestamp_limit;
+    if (selector->time_range_end.sec == DDS_TIME_MAX.sec
+        && selector->time_range_end.nanosec == DDS_TIME_MAX.nanosec) {
+        timestamp_limit = selector->time_range_end.sec;
+    } else {
+        timestamp_limit = selector->time_range_end.sec * NANOSECS_PER_SEC;
+        timestamp_limit += selector->time_range_end.nanosec;
+    }
     int read_samples = 0;
     /*
      * The value of the sample selector's max samples could be
@@ -461,12 +475,21 @@ void FileStorageStreamReader_read(
         *count = 0;
         return;
     }
-    /* Add the currently read sample and sample info values to the taken data
-     * and info collections (sequences) */
+    /*
+     * Add the currently read sample and sample info values to the taken data
+     * and info collections (sequences)
+     */
     do {
         FileStorageStreamReader_addSampleToData(stream_reader);
-        FileStorageStreamReader_readSample(stream_reader);
         read_samples++;
+        /*
+         * if we reach the end of the file or we cant read a proper sample,
+         * we dont add that sample on this iteration but we should send the
+         * previous samples
+         */
+        if (FileStorageStreamReader_readSample(stream_reader) == FALSE) {
+            break;
+        }
     } while (stream_reader->current_timestamp <= timestamp_limit
              && read_samples < max_samples);
     /* The number of taken samples is the current length of the data sequence */
@@ -583,6 +606,7 @@ int FileStorageStreamReader_initialize(
     /* Bootstrap the take loop: read the first sample */
     if (!FileStorageStreamReader_readSample(stream_reader)) {
         printf("Failed to get first sample from file, maybe EOF was reached\n");
+        return FALSE;
     }
 
     RTI_RecordingServiceStorageStreamReader_initialize(
diff --git a/examples/routing_service/file_adapter/c++11/README.md b/examples/routing_service/file_adapter/c++11/README.md
@@ -66,6 +66,30 @@ supports static linking of adapters. To use this functionality you would need to
 create an application that uses Routing Service as a library component and
 statically links to this `FileAdapter` library.
 
+### Cross-compilation
+
+When you need to cross-compile the example, the above
+command will not work, the assigned compiler won't be the cross-compiler and
+errors may happen when linking against the cross-compiled Connext binaries.
+To fix this, you have to create a file with the architecture name and call
+CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
+An example of the file to create with the toolchain settings (e.g. for an
+ARM architectures):
+
+```cmake
+set(CMAKE_SYSTEM_NAME Linux)
+set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
+set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
+```
+
+Then you can call CMake like this:
+
+```bash
+    cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
+            -DCONNEXTDDS_ARCH=<connext architecture> ..
+```
+
 ## Running C++ example
 
 To run the example, you just need to run the following command from the `build`
diff --git a/examples/routing_service/file_adapter/c/README.md b/examples/routing_service/file_adapter/c/README.md
diff --git a/examples/routing_service/mongo_db/c++11/README.rst b/examples/routing_service/mongo_db/c++11/README.rst
diff --git a/examples/routing_service/monitoring/c++11/README.md b/examples/routing_service/monitoring/c++11/README.md
diff --git a/examples/routing_service/shapes_processor/c++11/README.md b/examples/routing_service/shapes_processor/c++11/README.md
diff --git a/examples/routing_service/struct_array_transf/c++11/README.md b/examples/routing_service/struct_array_transf/c++11/README.md
diff --git a/examples/web_integration_service/library_api/c++11/README.md b/examples/web_integration_service/library_api/c++11/README.md
diff --git a/resources/ci_cd/linux_format.py b/resources/ci_cd/linux_format.py
