From 8edeb78bb3c5a99cb6ba97ddfcefdc7ef81093f8 Mon Sep 17 00:00:00 2001
From: Miguel Company <miguelcompany@eprosima.com>
Date: Mon, 27 May 2024 10:34:26 +0200
Subject: [PATCH] Add support for data representation (#756)

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
---
 .../rmw_fastrtps_shared_cpp/TypeSupport.hpp   |  6 ++++++
 rmw_fastrtps_shared_cpp/src/qos.cpp           | 20 +++++++++++++++++--
 .../test/test_rmw_qos_to_dds_attributes.cpp   |  8 ++++++++
 3 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
index 7da7a0d64..df370b0f5 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
@@ -104,6 +104,12 @@ class TypeSupport : public eprosima::fastdds::dds::TopicDataType
     return is_plain_;
   }
 
+  RMW_FASTRTPS_SHARED_CPP_PUBLIC
+  inline bool is_plain(eprosima::fastdds::dds::DataRepresentationId_t rep) const override
+  {
+    return is_plain_ && rep == eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION;
+  }
+
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   virtual ~TypeSupport() {}
 
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 6079cfda3..1b1506151 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -181,7 +181,15 @@ get_datareader_qos(
   const rosidl_type_hash_t & type_hash,
   eprosima::fastdds::dds::DataReaderQos & datareader_qos)
 {
-  return fill_data_entity_qos_from_profile(qos_policies, type_hash, datareader_qos);
+  if (fill_data_entity_qos_from_profile(qos_policies, type_hash, datareader_qos)) {
+    // The type support in the RMW implementation is always XCDR1.
+    constexpr auto rep = eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION;
+    datareader_qos.type_consistency().representation.clear();
+    datareader_qos.type_consistency().representation.m_value.push_back(rep);
+    return true;
+  }
+
+  return false;
 }
 
 bool
@@ -190,7 +198,15 @@ get_datawriter_qos(
   const rosidl_type_hash_t & type_hash,
   eprosima::fastdds::dds::DataWriterQos & datawriter_qos)
 {
-  return fill_data_entity_qos_from_profile(qos_policies, type_hash, datawriter_qos);
+  if (fill_data_entity_qos_from_profile(qos_policies, type_hash, datawriter_qos)) {
+    // The type support in the RMW implementation is always XCDR1.
+    constexpr auto rep = eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION;
+    datawriter_qos.representation().clear();
+    datawriter_qos.representation().m_value.push_back(rep);
+    return true;
+  }
+
+  return false;
 }
 
 bool
diff --git a/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp b/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
index 136ec993a..905a79e7c 100644
--- a/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
+++ b/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
@@ -103,6 +103,10 @@ TEST_F(GetDataReaderQoSTest, nominal_conversion) {
     eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
     subscriber_qos_.history().kind);
   EXPECT_GE(10, subscriber_qos_.history().depth);
+  ASSERT_EQ(1, subscriber_qos_.type_consistency().representation.m_value.size());
+  EXPECT_EQ(
+    eprosima::fastdds::dds::DataRepresentationId::XCDR_DATA_REPRESENTATION,
+    subscriber_qos_.type_consistency().representation.m_value[0]);
 }
 
 TEST_F(GetDataReaderQoSTest, large_depth_conversion) {
@@ -201,6 +205,10 @@ TEST_F(GetDataWriterQoSTest, nominal_conversion) {
     eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
     publisher_qos_.history().kind);
   EXPECT_GE(10, publisher_qos_.history().depth);
+  ASSERT_EQ(1, publisher_qos_.representation().m_value.size());
+  EXPECT_EQ(
+    eprosima::fastdds::dds::DataRepresentationId::XCDR_DATA_REPRESENTATION,
+    publisher_qos_.representation().m_value[0]);
 }
 
 TEST_F(GetDataWriterQoSTest, large_depth_conversion) {