FastDDS 2.14.3 Dynamic Types with Type Object not working

[arnabgho81]

Hi, I am using Fast DDS version 2.14.3 and fastDDSGen 3.0.1. I am able to generate the type Object from an Idl but when i try to create the dynamic type or the dynamic data from a serialized payload I face core dump.

Here is a sample Idl defination

module sample_cluster {

enum SampleClass
{
UNKNOWN,
A,
B,
C,
D
LOCAL
};

struct SampleCluster
{
double stamps_s;
boolean flag1;
unsigned short code;
boolean flag2;
SampleClass sample_class;
};

};

The FastDDSGen was able to generate the typeObject.

Then i use the code listed below:

// type_ is the PubSubtype generated from the FastDDSGen 
std::string type_name = type_->getName();
std::cout << "Create Dynamic Type ::" << type_name << std::endl;

// Use data type name, type identifier and type object to build the dynamic type
const eprosima::fastrtps::types::TypeIdentifier* type_identifier = 
                  eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier_trying_complete(type_name);
const eprosima::fastrtps::types::TypeObject* type_object = 
                eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_object(type_identifier);
eprosima::fastrtps::types::DynamicType_ptr dynamic_type_ =
    eprosima::fastrtps::types::TypeObjectFactory::get_instance()->build_dynamic_type(type_name, type_identifier, type_object);

eprosima::fastdds::dds::TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dynamic_type_));    

std::cout << "Create Dynamic Data " << std::endl;

//Create a new DynamicData to read the sample
eprosima::fastrtps::types::DynamicData_ptr new_dynamic_data;
new_dynamic_data = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(dynamic_type_);

std::cout << "Deserialize Data " << std::endl;

type->deserialize(&serializedPayload, (void*)(new_dynamic_data.get()));

std::cout << "Message received: " << std::endl;
eprosima::fastrtps::types::DynamicDataHelper::print(new_dynamic_data);
std::cout << "-----------------------------------------------------" << std::endl;   

I was able to verify that the serialized_payload is being deserialized using the PubSubtype.deserialize method.

[arnabgho81]

My query is similar to #5062

[JesusPoderoso]

Hi @arnabgho81, thanks for using Fast DDS.
This is a known issue from Fast DDS 2.3.x and onwards (remaining 2.x versions). Dynamic types (XTypes 1.3) have been refactored in master branch and will be released soon as part of the API breaks for Fast DDS v3.0.0.
Could you check if the issue persists using master branch?
The XTypes example and the migration guide may help you to move to v3.0.0.

[JesusPoderoso]

Hi @arnabgho81, they might be different compiler versions depending on the Fast DDS version you are using,
Refer to the build system dependencies documentation section.

[arnabgho81]

Now that I have migrated to Fast DDS v3.0.0 the dynamic type is working for the idl.

I have related query, when I retrieve the TypeObject via ITypeObjectRegistry::get_type_object() will it be containing all the dependent typeobjects, which means the type object is self contained or do I need to get the dependent typeObject seperately.

[arnabgho81]

If i serialize the type object and then deserialize the type object, will the deserialized typeobject have all the dependent types to be used to create dynamic data.

[arnabgho81]

I am getting Memory Fault core dump at line marked with red.

[arnabgho81]

I found the bug in my code. It is working now.

and dynamic type is working as expected.