[16647] Use shared_ptr for internal singletons

cmake/modules/FindThirdpartyBoost.cmake

@@ -22,7 +22,7 @@ endif()
 try_compile(IS_THIRDPARTY_BOOST_OK
         ${CMAKE_BINARY_DIR}
         ${PROJECT_SOURCE_DIR}/thirdparty/boost/test/ThirdpartyBoostCompile_test.cpp
-         CMAKE_FLAGS "-DINCLUDE_DIRECTORIES=${THIRDPARTY_BOOST_INCLUDE_DIR}"
+         CMAKE_FLAGS "-DINCLUDE_DIRECTORIES=${THIRDPARTY_BOOST_INCLUDE_DIR};${PROJECT_SOURCE_DIR}/src/cpp"
          CXX_STANDARD 11
          LINK_LIBRARIES ${THIRDPARTY_BOOST_LINK_LIBS}
          OUTPUT_VARIABLE OUT

include/fastdds/dds/domain/DomainParticipantFactory.hpp

@@ -36,6 +36,9 @@ namespace eprosima {
 
 namespace fastrtps {
 namespace rtps {
+
+class RTPSDomainImpl;
+
 namespace detail {
 class TopicPayloadPoolRegistry;
 }  // namespace detail
@@ -49,6 +52,10 @@ class DomainParticipantListener;
 class DomainParticipant;
 class DomainParticipantImpl;
 
+namespace detail {
+struct LogResources;
+}  // namespace detail
+
 /**
  * Class DomainParticipantFactory
  *
@@ -303,6 +310,10 @@ class DomainParticipantFactory
     DomainParticipantQos default_participant_qos_;
 
     std::shared_ptr<fastrtps::rtps::detail::TopicPayloadPoolRegistry> topic_pool_;
+
+    std::shared_ptr<fastrtps::rtps::RTPSDomainImpl> rtps_domain_;
+
+    std::shared_ptr<detail::LogResources> log_resources_;
 };
 
 }  // namespace dds

include/fastdds/dds/log/Log.hpp

@@ -172,16 +172,6 @@ class Log
             const std::string& message,
             const Log::Context&,
             Log::Kind);
-
-private:
-
-    // Applies transformations to the entries compliant with the options selected (such as
-    // erasure of certain context information, or filtering by category. Returns false
-    // if the log entry is blacklisted.
-    static bool preprocess(
-            Entry&);
-
-    static void run();
 };
 
 /**

include/fastdds/rtps/RTPSDomain.h

@@ -52,9 +52,6 @@ class RTPSDomainImpl;
  */
 class RTPSDomain
 {
-
-    friend class RTPSDomainImpl;
-
 public:
 
     /**
@@ -281,63 +278,14 @@ class RTPSDomain
     RTPS_DllAPI static bool removeRTPSParticipant(
             RTPSParticipant* p);
 
-    /**
-     * Set the maximum RTPSParticipantID.
-     * @param maxRTPSParticipantId ID.
-     */
-    static inline void setMaxRTPSParticipantId(
-            uint32_t maxRTPSParticipantId)
-    {
-        m_maxRTPSParticipantID = maxRTPSParticipantId;
-    }
-
-    /**
-     * Creates a RTPSParticipant as default server or client if ROS_MASTER_URI environment variable is set.
-     * @param domain_id DDS domain associated
-     * @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
-     * @param attrs RTPSParticipant Attributes.
-     * @param listen Pointer to the ParticipantListener.
-     * @return Pointer to the RTPSParticipant.
-     *
-     * \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
-     *          so its use may result in undefined behaviour.
-     */
-    static RTPSParticipant* clientServerEnvironmentCreationOverride(
-            uint32_t domain_id,
-            bool enabled,
-            const RTPSParticipantAttributes& attrs,
-            RTPSParticipantListener* listen /*= nullptr*/);
-
 private:
 
-    typedef std::pair<RTPSParticipant*, RTPSParticipantImpl*> t_p_RTPSParticipant;
-
     RTPSDomain() = delete;
 
     /**
      * DomainRTPSParticipant destructor
      */
     ~RTPSDomain() = delete;
-
-    /**
-     * @brief Get Id to create a RTPSParticipant.
-     * @return Different ID for each call.
-     */
-    static inline uint32_t getNewId()
-    {
-        return m_maxRTPSParticipantID++;
-    }
-
-    static void removeRTPSParticipant_nts(
-            t_p_RTPSParticipant&);
-
-    static std::mutex m_mutex;
-
-    static std::atomic<uint32_t> m_maxRTPSParticipantID;
-
-    static std::vector<t_p_RTPSParticipant> m_RTPSParticipants;
-
-    static std::set<uint32_t> m_RTPSParticipantIDs;
 };
 
 } // namespace rtps

include/fastdds/rtps/participant/RTPSParticipant.h

@@ -69,6 +69,7 @@ class RTPS_DllAPI RTPSParticipant
 {
     friend class RTPSParticipantImpl;
     friend class RTPSDomain;
+    friend class RTPSDomainImpl;
 
 private:
 

src/cpp/fastdds/domain/DomainParticipantFactory.cpp

@@ -28,16 +28,14 @@
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 #include <fastrtps/xmlparser/XMLEndpointParser.h>
 
+#include <fastdds/log/LogResources.hpp>
 #include <fastdds/domain/DomainParticipantImpl.hpp>
 #include <fastdds/utils/QosConverters.hpp>
+#include <rtps/RTPSDomainImpl.hpp>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <statistics/fastdds/domain/DomainParticipantImpl.hpp>
 #include <utils/SystemInfo.hpp>
 
-// We include boost through this internal header, to ensure we use our custom boost config file
-#include <utils/shared_memory/SharedMemSegment.hpp>
-#include <boost/interprocess/sync/interprocess_mutex.hpp>
-
 using namespace eprosima::fastrtps::xmlparser;
 
 using eprosima::fastrtps::ParticipantAttributes;
@@ -54,6 +52,8 @@ DomainParticipantFactory::DomainParticipantFactory()
     : default_xml_profiles_loaded(false)
     , default_participant_qos_(PARTICIPANT_QOS_DEFAULT)
     , topic_pool_(fastrtps::rtps::TopicPayloadPoolRegistry::instance())
+    , rtps_domain_(fastrtps::rtps::RTPSDomainImpl::get_instance())
+    , log_resources_(detail::get_log_resources())
 {
 }
 
@@ -88,27 +88,6 @@ DomainParticipantFactory* DomainParticipantFactory::get_instance()
 
 std::shared_ptr<DomainParticipantFactory> DomainParticipantFactory::get_shared_instance()
 {
-    /*
-     * The first time an interprocess synchronization object is created by boost, a singleton is instantiated and
-     * its destructor is registered with std::atexit(&atexit_work).
-     *
-     * We need to ensure that the boost singleton is destroyed after the instance of DomainParticipantFactory, to
-     * ensure that the interprocess objects keep working until all the participants are destroyed.
-     *
-     * We achieve this behavior by having an static instance of an auxiliary struct that instantiates a synchronization
-     * object on the constructor, just to ensure that the boost singleton is instantiated before the
-     * DomainParticipantFactory.
-     */
-    struct AuxiliaryBoostFunctor
-    {
-        AuxiliaryBoostFunctor()
-        {
-            boost::interprocess::interprocess_mutex mtx;
-        }
-
-    };
-    static AuxiliaryBoostFunctor boost_functor;
-
     // Note we need a custom deleter, since the destructor is protected.
     static std::shared_ptr<DomainParticipantFactory> instance(
         new DomainParticipantFactory(),

src/cpp/fastdds/domain/DomainParticipantImpl.cpp

@@ -75,6 +75,7 @@ using fastrtps::TopicAttributes;
 using fastrtps::SubscriberAttributes;
 using fastrtps::PublisherAttributes;
 using fastrtps::rtps::RTPSDomain;
+using fastrtps::rtps::RTPSDomainImpl;
 using fastrtps::rtps::RTPSParticipant;
 using fastrtps::rtps::ParticipantDiscoveryInfo;
 #if HAVE_SECURITY
@@ -257,7 +258,7 @@ ReturnCode_t DomainParticipantImpl::enable()
 
     // If DEFAULT_ROS2_MASTER_URI is specified then try to create default client if
     // that already exists.
-    RTPSParticipant* part = RTPSDomain::clientServerEnvironmentCreationOverride(
+    RTPSParticipant* part = RTPSDomainImpl::clientServerEnvironmentCreationOverride(
         domain_id_,
         false,
         rtps_attr,