migration_guide.rst

Migration Guide to Fast DDS v3

This document aims to help during the migration process from eProsima Fast DDS version 2 to Fast DDS version 3. For more information about all the updates, please refer to the :ref:`release notes <release_notes>`.

Warning

Fast DDS v3 introduces a new feature :ref:`XTypes<dynamic-types>` that allows to discover remote types. In consequence, discovery traffic can be increased during start up. If you are experiencing high load during discovery, try disabling the new feature. Please refer to :ref:`disable type propagation<property_type_propagation>` to learn how to do it.

Migration Steps

The following steps describe the possible changes that your project may require to migrate to Fast DDS v3.0.0:

• :ref:`step-1-update-the-package-name-and-cmake-configuration`
• :ref:`step-2-update-dependencies`
• :ref:`step-3-ensure-compatibility-with-related-products`
• :ref:`step-4-apply-namespace-changes`
• :ref:`step-5-migrate-public-headers`
• :ref:`step-6-handle-removed-or-private-headers`
• :ref:`step-7-update-api-methods`
• :ref:`step-8-update-structs-enums-and-variables`
• :ref:`step-9-refactor-examples`

Step 1: Update the package name and CMake configuration

1. CMake project name: Rename all instances in the CMake project from fastrtps to fastdds. For example, update target_link_libraries(fastrtps) to target_link_libraries(fastdds), and if(NOT fastrtps_FOUND) to if(NOT fastdds_FOUND).
2. Environment variables:
   • Rename FASTRTPS_DEFAULT_PROFILES_FILE to FASTDDS_DEFAULT_PROFILES_FILE.
   • The configuration file for loading profiles has been renamed from DEFAULT_FASTRTPS_PROFILES.xml to DEFAULT_FASTDDS_PROFILES.xml.

Step 2: Update dependencies

Fast DDS v3 is only compatible with Fast CDR v2. If you are not using Fast CDR as :ref:`third-party <third-party_libraries-options>`, please ensure that your local dependencies are up-to-date. Refer to the :ref:`library deprendencies table <dependencies_compatibilities_build_system_dependencies>` to verify version compatibility for all Fast DDS library dependencies.

Step 3: Ensure compatibility with related products

Fast DDS v3 requires Fast DDS Gen v4 for code generation. Make sure to regenerate types using this compatible version.

For other compatibility requirements with related products (e.g., Shapes Demo, Discovery Server), refer to the table of :ref:`products compatibility <dependencies_compatibilities_product_compatibility>`, which outlines version compatibility across the Fast DDS ecosystem. Verify these versions and update accordingly to avoid any integration issues.

Step 4: Apply namespace changes

1. Namespace migration:

   • First, update all eprosima::fastrtps:: namespace references to eprosima::fastdds::.
   • Move built-in topics SubscriptionBuiltinTopicData, PublicationBuiltinTopicData, and ParticipantBuiltinTopicData from eprosima::fastdds::dds::builtin:: to eprosima::fastdds::rtps::.
   • Move Duration_t and c_TimeInfinite references from eprosima::fastdds:: to eprosima::fastdds::dds.
   • Move Time_t.hpp references from eprosima::fastdds:: to eprosima::fastdds::dds.

   Ensure you update these namespace references across your code to avoid compilation errors.

2. Renamed types:

   • Change EventKindBits:: references to EventKind::.
   • Change EventKindEntityId:: references to EntityId::.
   • Change StatisticsEventKind:: references to statistics::EventKind::.

   Refactor the type references as outlined above to maintain compatibility with the new version.

Step 5: Migrate public headers

1. Header files location:

   All the headers in include/fastrtps were migrated to include/fastdds. In particular, the following list includes headers that have been relocated to different paths or whose implementations have been incorporated into other headers:

   Fast DDS v2 file include path	Fast DDS v3 file include path
   fastdds/rtps/resources/ResourceManagement.hpp	fastdds/rtps/attributes/ResourceManagement.hpp
   fastrtps/eProsima_auto_link.h	fastdds/fastdds_auto_link.hpp
   fastrtps/attributes/ParticipantAttributes.h	fastdds/dds/domain/qos/DomainParticipantExtendedQos.hpp
   fastrtps/Domain.h	fastdds/dds/domain/DomainParticipantFactory.hpp
   fastrtps/log/Log.h	fastdds/dds/log/Log.hpp
   fastrtps/qos/DeadlineMissedStatus.h	fastdds/dds/core/status/DeadlineMissedStatus.hpp
   fastrtps/qos/IncompatibleQosStatus.hpp	fastdds/dds/core/status/IncompatibleQosStatus.hpp
   fastrtps/qos/LivelinessChangedStatus.h	fastdds/dds/core/status/LivelinessChangedStatus.hpp
   fastrtps/qos/QosPolicies.h	fastdds/dds/core/policy/QosPolicies.hpp
   fastrtps/qos/ReaderQos.h	fastdds/dds/subscriber/qos/ReaderQos.hpp
   fastrtps/qos/WriterQos.h	fastdds/dds/publisher/qos/WriterQos.hpp
   fastrtps/qos/SampleRejectedStatus.hpp	fastdds/dds/core/status/SampleRejectedStatus.hpp
   fastrtps/participant/Participant.h	fastdds/rtps/participant/RTPSParticipant.hpp
   fastrtps/transport/TCPv4TransportDescriptor.h	fastdds/rtps/transport/TCPv4TransportDescriptor.hpp
   fastrtps/transport/TCPv6TransportDescriptor.h	fastdds/rtps/transport/TCPv6TransportDescriptor.hpp
   fastrtps/transport/UDPv4TransportDescriptor.h	fastdds/rtps/transport/UDPv4TransportDescriptor.hpp
   fastrtps/transport/UDPv6TransportDescriptor.h	fastdds/rtps/transport/UDPv6TransportDescriptor.hpp
   fastrtps/transport/UDPTransportDescritpor.h	fastdds/rtps/transport/UDPTransportDescritpor.hpp
   fastrtps/transport/TCPTransportDescritpor.h	fastdds/rtps/transport/TCPTransportDescritpor.hpp
   fastdds/rtps/common/Time_t.hpp in namespace{fastdds}	fastdds/dds/core/Time_t.hpp in namespace{fastdds::dds}

   Also, the fixed_size_string.hpp implementation has been migrated from fastrtps/utils/fixed_size_string.hpp to fastcdr/cdr/fixed_size_string.hpp.

2. File extensions:

   Rename file extensions from .h to .hpp.

Step 6: Handle removed or private headers

The following list contains headers that were previously in the include folder and have been relocated to the src/cpp folder. Since they are no longer public, it is not possible to include them in external projects:

• ParticipantAttributes.hpp
• ReplierAttributes.hpp
• RequesterAttributes.hpp
• PublisherAttributes.hpp
• SubscriberAttributes.hpp
• ProxyPool.hpp
• Semaphore.hpp
• MessageReceiver.hpp
• BuiltinProtocols.hpp
• shared_mutex.hpp
• StringMatching.hpp
• TimeConversion.hpp
• DBQueue.hpp
• ResourceEvent.hpp
• TimedEvent.hpp
• WriterProxyData.hpp
• ReaderProxyData.hpp
• ParticipantProxyData.hpp
• XML Parser API
• UnitsParser.hpp
• RTPSMessageGroup.hpp
• RTPSMessageCreator.hpp
• CDRMessage.hpp
• StatefulPersistentReader.hpp
• StatefulReader.hpp
• StatelessPersistentReader.hpp
• StatelessReader.hpp
• PersistentWriter.hpp
• StatefulPersistentWriter.hpp
• StatefulWriter.hpp
• StatelessPersistentWriter.hpp
• StatelessWriter.hpp
• logging.h
• Exception.h
• Cryptography.h
• Authentication.h
• AccessControl.h
• SecurityException.h
• ChangeForReader.hpp
• ReaderLocator.hpp
• ReaderProxy.hpp
• ServerAttributes.hpp
• TopicAttributes.hpp
• TypeLookupService.hpp

If your project previously included any of these headers, you will need to modify your implementation.

Step 7: Update API methods

The table below contains the list of API changes, showing the previous methods and the corresponding new ones introduced in Fast DDS v3. The new API methods achieve the same functionality, even though the signature of the method is different from the deprecated one.

Deprecated methods	New methods
xmlparser::XMLProfileManager::library_settings(LibrarySettingsAttributes&)	DomainParticipantFactory::get_instance()->set_library_settings(const LibrarySettings&)
fill_discovery_data_from_cdr_message(ReaderProxyData&, MonitorServiceStatusData&)	fill_discovery_data_from_cdr_message(SubscriptionBuiltinTopicData&, MonitorServiceStatusData&)
fill_discovery_data_from_cdr_message(WriterProxyData&, MonitorServiceStatusData&)	fill_discovery_data_from_cdr_message(PublicationBuiltinTopicData&, MonitorServiceStatusData&)
fill_discovery_data_from_cdr_message(ParticipantProxyData&, MonitorServiceStatusData&)	fill_discovery_data_from_cdr_message(ParticipantBuiltinTopicData&, MonitorServiceStatusData&)
on_participant_discovery(DomainParticipant*, ParticipantDiscoveryInfo&&, bool)	on_participant_discovery(DomainParticipant*, ParticipantDiscoveryStatus, ParticipantBuiltinTopicData&, bool&)
on_subscriber_discovery(DomainParticipant*, ReaderDiscoveryInfo&&, bool)	on_data_reader_discovery(DomainParticipant*, ReaderDiscoveryStatus, SubscriptionBuiltinTopicData&, bool&)
on_publisher_discovery(DomainParticipant*, WriterDiscoveryInfo&&, bool)	on_data_writer_discovery(DomainParticipant*, WriterDiscoveryStatus, PublicationBuiltinTopicData&, bool&)
onReaderDiscovery(RTPSParticipant*, ReaderDiscoveryInfo&&, bool)	on_reader_discovery(RTPSParticipant*, ReaderDiscoveryStatus, SubscriptionBuiltinTopicData&, bool&)
onWriterDiscovery(RTPSParticipant*, WriterDiscoveryInfo&&, bool)	on_writer_discovery(RTPSParticipant*, WriterDiscoveryStatus, PublicationBuiltinTopicData&, bool&)
onParticipantDiscovery(RTPSParticipant*, ParticipantDiscoveryInfo&&, bool)	on_participant_discovery(RTPSParticipant*, ParticipantDiscoveryStatus, ParticipantBuiltinTopicData&, bool&)
XMLProfileManager::loadXMLFile(string&)	DomainParticipantFactory::get_instance()->load_XML_profiles_file(string)
XMLProfileManager::loadDefaultXMLFile()	load_profiles()
XMLProfileManager::loadXMLFile(string)	load_XML_profiles_file(string&)
XMLProfileManager::loadXMLString(const char*, size_t)	load_XML_profiles_string(const char*, size_t)
XMLProfileManager::fillParticipantAttributes(const string&, ParticipantAttributes&, bool)	get_participant_qos_from_profile(string&, DomainParticipantQos&)
DynamicTypeBuilder XMLProfileManager::getDynamicTypeByName(string&)	get_dynamic_type_builder_from_xml_by_name(string&, DynamicTypeBuilder::_ref_type&)
XMLProfileManager::fillRequesterAttributes(string&, RequesterAttributes&)	get_requester_qos_from_profile(string&, RequesterQos&)
XMLParser::getXMLThroughputController(tinyxml2::XMLElement*, ThroughputControllerDescriptor&, uint8_t)	XMLParser::getXMLFlowControllerDescriptorList(tinyxml2::XMLElement*, FlowControllerDescriptorList&, uint8_t)
add_throughput_controller_descriptor_to_pparams(FlowControllerSchedulerPolicy, uint32_t, uint32_t)	add_flow_controller_descriptor_to_pparams(FlowControllerSchedulerPolicy, uint32_t, uint32_t)
get_payload(uint32_t, CacheChange_t&)	get_payload(uint32_t, SerializedPayload_t&)
release_payload(CacheChange_t&)	release_payload(SerializedPayload_t&)
registerWriter(RTPSWriter*, const TopicAttributes&, const WriterQos&)	register_writer(RTPSWriter*, const PublicationBuiltinTopicData&)
registerReader(RTPSReader*, TopicAttributes&, ReaderQos&)	register_reader(RTPSReader*, const SubscriptionBuiltinTopicData&, const ContentFilterProperty*)
updateWriter(RTPSWriter*, const TopicAttributes&, const WriterQos&)	update_writer(RTPSWriter*, const WriterQos&)
updateReader(RTPSReader*, const TopicAttributes&, const ReaderQos&, const ContentFilterProperty*)	update_reader(RTPSReader*, const ReaderQos, const ContentFilterProperty*)
getRTPSParticipantAttributes()	get_attributes()
bool write(void*)	ReturnCode_t write(void*)
bool write(void*, WriteParams&)	ReturnCode_t write(void*, WriteParams&)
SenderResource::send(const octet*, uint32_t, LocatorsIterator*, LocatorsIterator*, const chrono::steady_clock::time_point&)	SenderResource::send(vector<NetworkBuffer>, uint32_t, LocatorsIterator*, LocatorsIterator*, const chrono::steady_clock::time_point&)
RTPSMessageSenderInterface::send(CDRMessage_t*, chrono::steady_clock::time_point)	RTPSMessageSenderInterface::send(vector<NetworkBuffer>&, uint32_t&, chrono::steady_clock::time_point)
createRTPSWriter(RTPSParticipant*, EntityId_t&, WriterAttributes&, shared_ptr<IPayloadPool>&, shared_ptr<IChangePool>&, WriterHistory*, WriterListener*)	createRTPSWriter(RTPSParticipant*, WriterAttributes&, WriterHistory*, WriterListener*)
RTPSWriter::new_change(const function<uint32_t()>& dataCdrSerializedSize, ChangeKind_t, InstanceHandle_t)	WriterHistory::create_change(uint32_t, ChangeKind_t, InstanceHandle_t)
RTPSWriter::new_change(ChangeKind_t, InstanceHandle_t)	WriterHistory::create_change(ChangeKind_t, InstanceHandle_t)
RTPSWriter::release_change(CacheChange_t*)	WriterHistory::release_change(CacheChange_t*)
RTPSWriter::remove_older_changes(unsigned int)	WriterHistory::remove_min_change()
RTPSWriter::is_acked_by_all(const CacheChange_t*)	RTPSWriter::is_acked_by_all(const SequenceNumber_t&)
RTPSWriter::updateAttributes(const WriterAttributes&)	RTPSWriter::update_attributes(const WriterAttributes&)
RTPSWriter::getListener()	RTPSWriter::get_listener()
RTPSWriter::isAsync()	RTPSWriter::is_async()
WriterListener::onWriterMatched(RTPSWriter*, MatchingInfo&)	WriterListener::on_writer_matched(RTPSWriter*, const MatchingInfo&)
WriterListener::onWriterChangeReceivedByAll(RTPSWriter*, CacheChange_t*)	WriterListener::on_writer_change_received_by_all(RTPSWriter*, CacheChange_t*)
TypeLookupReplyListener::onWriterChangeReceivedByAll(RTPSWriter*, CacheChange_t*)	TypeLookupReplyListener::on_writer_change_received_by_all(RTPSWriter*, CacheChange_t*)
RTPSReader::getListener()	RTPSReader::get_listener()
RTPSReader::setListener()	RTPSReader::set_listener()
RTPSReader::expectsInlineQos()	RTPSReader::expects_inline_qos()
RTPSReader::isInCleanState()	RTPSReader::is_in_clean_state()
RTPSReader::getHistory()	RTPSReader::get_history()
RTPSReader::nextUnreadCache(CacheChange_t**, WriterProxy**)	RTPSReader::next_unread_cache()
RTPSReader::nextUntakenCache(CacheChange_t**, WriterProxy**)	RTPSReader::next_untaken_cache()
ReaderListener::onReaderMatched(RTPSReader*, MatchingInfo&)	ReaderListener::on_reader_matched(RTPSReader*, MatchingInfo&)
ReaderListener::onNewCacheChangeAdded(RTPSReader*, const CacheChange_t* const)	ReaderListener::on_new_cache_change_added(RTPSReader*, const CacheChange_t* const)
TopicDataType::getSerializedSizeProvider(const void* const, DataRepresentationId_t)	TopicDataType::calculate_serialized_size(const void* const, DataRepresentationId_t)
TopicDataType::createData()	TopicDataType::create_data()
TopicDataType::deleteData(void*)	TopicDataType::delete_data(void*)
TopicDataType::getKey(const void* const, InstanceHand*, bool)	TopicDataType::compute_key(const void* const, InstanceHand&, bool)
TopicDataType::setName(const char*)	TopicDataType::set_name(const string&)
char* TopicDataType::getName()	string& TopicDataType::get_name()
TypeSupport::calculate_serialized_size_provider(const void* const, DataRepresentationId_t)	TypeSupport::calculate_serialized_size(const void* const, DataRepresentationId_t)
get_key(void, InstanceHandle_t*, bool)	compute_key(SerializedPayload_t&, InstanceHandle_t&, bool)
DynamicPubSubType::createData()	DynamicPubSubType::create_data()
DynamicPubSubType::deleteData(void*)	DynamicPubSubType::delete_data(void*)
DynamicPubSubType::getKey(const void* const, InstanceHand*, bool)	DynamicPubSubType::compute_key(const void* const, InstanceHand&, bool)
DynamicPubSubType::getSerializedSizeProvider(const void* const, DataRepresentationId_t)	DynamicPubSubType::calculate_serialized_size(const void* const, DataRepresentationId_t)

Review your code for any APIs marked with the FASTDDS_DEPRECATED and FASTDDS_TODO_BEFORE macros. Note that these deprecated APIs have been removed in Fast DDS v3. Make the necessary updates to your implementation to ensure compatibility with the new version.

Step 8: Update structs, enums, and variables

As part of the Fast DDS migration, several structs, enums, and variables have been updated. You will need to modify your code to reflect these changes:

1. Enum and Variable Changes:
   • Rename DiscoveryProtocol_t to DiscoveryProtocol.
   • Rename initialHeartbeatDelay to initial_heartbeat_delay.
   • Rename heartbeatPeriod to heartbeat_period.
   • Rename nackResponseDelay to nack_response_delay.
   • Rename nackSupressionDuration to nack_supression_duration.
   • Rename heartbeatResponseDelay to heartbeat_response_delay.
   • Rename initialAcknackDelay to initial_acknack_delay.
   • Rename expectsInlineQos to expects_inline_qos.
   • Rename m_typeSize to max_serialized_type_size.
   • Rename m_isGetKeyDefined to is_compute_key_provided.
   • Rename m_topicDataTypeName to topic_data_typename.
2. Extend Built-in Topics:
   • SubscriptionBuiltinTopicData has been extended with additional fields to mimic those of ReaderProxyData.
   • PublicationBuiltinTopicData has been extended with additional fields to mimic those of WriterProxyData.
   • ParticipantBuiltinTopicData has been extended to include the product version and fields from ParticipantProxyData.
3. Other Struct Changes:
   • SendBuffersAllocationAttributes has a new attribute to define the allocation configuration of the NetworkBuffers.
   • TypeConsistencyQos has been removed from DataReader, and the TypeConsistencyEnforcementQosPolicy and DataRepresentationQosPolicy have been added.

Step 9: Examples refactor

All examples in the Fast DDS project have been refactored to follow a consistent structure, having renamed files, restructured classes, and updated the overall format. If you have integrated any example into your own implementation, carefully review the updated examples to ensure compatibility with your project. As reference, consider the example Configuration.