[17509] Feature: Ignore empty API

include/fastdds/dds/domain/DomainParticipant.hpp

@@ -423,7 +423,7 @@ class DomainParticipant : public Entity
     /**
      * Locally ignore a remote domain participant.
      *
-     * @note This action is not required to be reversible.
+     * @note This action is not reversible.
      *
      * @param handle Identifier of the remote participant to ignore
      * @return RETURN_OK code if everything correct, error code otherwise
@@ -437,7 +437,7 @@ class DomainParticipant : public Entity
     /**
      * Locally ignore a topic.
      *
-     * @note This action is not required to be reversible.
+     * @note This action is not reversible.
      *
      * @param handle Identifier of the topic to ignore
      * @return RETURN_OK code if everything correct, error code otherwise
@@ -449,9 +449,9 @@ class DomainParticipant : public Entity
             const InstanceHandle_t& handle);
 
     /**
-     * Locally ignore a datawriter.
+     * Locally ignore a remote datawriter.
      *
-     * @note This action is not required to be reversible.
+     * @note This action is not reversible.
      *
      * @param handle Identifier of the datawriter to ignore
      * @return RETURN_OK code if everything correct, error code otherwise
@@ -463,9 +463,9 @@ class DomainParticipant : public Entity
             const InstanceHandle_t& handle);
 
     /**
-     * Locally ignore a datareader.
+     * Locally ignore a remote datareader.
      *
-     * @note This action is not required to be reversible.
+     * @note This action is not reversible.
      *
      * @param handle Identifier of the datareader to ignore
      * @return RETURN_OK code if everything correct, error code otherwise

include/fastdds/dds/domain/DomainParticipantListener.hpp

@@ -67,28 +67,48 @@ class DomainParticipantListener :
      * This method is called when a new Participant is discovered, or a previously discovered participant changes
      * its QOS or is removed.
      *
-     * @param participant Pointer to the Participant which discovered the remote participant.
-     * @param info Remote participant information. User can take ownership of the object.
+     * @param[out] participant Pointer to the Participant which discovered the remote participant.
+     * @param[out] info Remote participant information. User can take ownership of the object.
      */
     virtual void on_participant_discovery(
             DomainParticipant* participant,
             fastrtps::rtps::ParticipantDiscoveryInfo&& info)
     {
-        (void)participant, (void)info;
+        static_cast<void>(participant);
+        static_cast<void>(info);
+    }
+
+    /*!
+     * This method is called when a new Participant is discovered, or a previously discovered participant changes
+     * its QOS or is removed.
+     *
+     * @param[out] participant Pointer to the Participant which discovered the remote participant.
+     * @param[out] info Remote participant information. User can take ownership of the object.
+     * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered Participant.
+     */
+    virtual void on_participant_discovery(
+            DomainParticipant* participant,
+            fastrtps::rtps::ParticipantDiscoveryInfo&& info,
+            bool& should_be_ignored)
+    {
+        static_cast<void>(participant);
+        static_cast<void>(info);
+        static_cast<void>(should_be_ignored);
     }
 
 #if HAVE_SECURITY
     /*!
      * This method is called when a new Participant is authenticated.
      *
-     * @param participant Pointer to the authenticated Participant.
-     * @param info Remote participant authentication information. User can take ownership of the object.
+     * @param[out] participant Pointer to the authenticated Participant.
+     * @param[out] info Remote participant authentication information. User can take ownership of the object.
      */
     virtual void onParticipantAuthentication(
             DomainParticipant* participant,
             fastrtps::rtps::ParticipantAuthenticationInfo&& info)
     {
-        (void)participant, (void)info;
+        static_cast<void>(participant);
+        static_cast<void>(info);
     }
 
 #endif // if HAVE_SECURITY
@@ -97,28 +117,66 @@ class DomainParticipantListener :
      * This method is called when a new Subscriber is discovered, or a previously discovered subscriber changes
      * its QOS or is removed.
      *
-     * @param participant Pointer to the Participant which discovered the remote subscriber.
-     * @param info Remote subscriber information. User can take ownership of the object.
+     * @param[out] participant Pointer to the Participant which discovered the remote subscriber.
+     * @param[out] info Remote subscriber information. User can take ownership of the object.
      */
     virtual void on_subscriber_discovery(
             DomainParticipant* participant,
             fastrtps::rtps::ReaderDiscoveryInfo&& info)
     {
-        (void)participant, (void)info;
+        static_cast<void>(participant);
+        static_cast<void>(info);
+    }
+
+    /*!
+     * This method is called when a new Subscriber is discovered, or a previously discovered subscriber changes
+     * its QOS or is removed.
+     *
+     * @param[out] participant Pointer to the Participant which discovered the remote subscriber.
+     * @param[out] info Remote subscriber information. User can take ownership of the object.
+     * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered Participant.
+     */
+    virtual void on_subscriber_discovery(
+            DomainParticipant* participant,
+            fastrtps::rtps::ReaderDiscoveryInfo&& info,
+            bool& should_be_ignored)
+    {
+        static_cast<void>(participant);
+        static_cast<void>(info);
+        static_cast<void>(should_be_ignored);
     }
 
     /*!
      * This method is called when a new Publisher is discovered, or a previously discovered publisher changes
      * its QOS or is removed.
      *
-     * @param participant Pointer to the Participant which discovered the remote publisher.
-     * @param info Remote publisher information. User can take ownership of the object.
+     * @param[out] participant Pointer to the Participant which discovered the remote publisher.
+     * @param[out] info Remote publisher information. User can take ownership of the object.
      */
     virtual void on_publisher_discovery(
             DomainParticipant* participant,
             fastrtps::rtps::WriterDiscoveryInfo&& info)
     {
-        (void)participant, (void)info;
+        static_cast<void>(participant);
+        static_cast<void>(info);
+    }
+
+    /*!
+     * This method is called when a new Publisher is discovered, or a previously discovered publisher changes
+     * its QOS or is removed.
+     *
+     * @param[out] participant Pointer to the Participant which discovered the remote publisher.
+     * @param[out] info Remote publisher information. User can take ownership of the object.
+     * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered Participant.
+     */
+    virtual void on_publisher_discovery(
+            DomainParticipant* participant,
+            fastrtps::rtps::WriterDiscoveryInfo&& info,
+            bool& should_be_ignored)
+    {
+        static_cast<void>(participant);
+        static_cast<void>(info);
+        static_cast<void>(should_be_ignored);
     }
 
     /*!
@@ -136,7 +194,12 @@ class DomainParticipantListener :
             const fastrtps::types::TypeObject* object,
             fastrtps::types::DynamicType_ptr dyn_type)
     {
-        (void)participant, (void)request_sample_id, (void)topic, (void)identifier, (void)object, (void)dyn_type;
+        static_cast<void>(participant);
+        static_cast<void>(request_sample_id);
+        static_cast<void>(topic);
+        static_cast<void>(identifier);
+        static_cast<void>(object);
+        static_cast<void>(dyn_type);
     }
 
     /*!
@@ -149,7 +212,9 @@ class DomainParticipantListener :
             const fastrtps::rtps::SampleIdentity& request_sample_id,
             const fastrtps::types::TypeIdentifierWithSizeSeq& dependencies)
     {
-        (void)participant, (void)request_sample_id, (void)dependencies;
+        static_cast<void>(participant);
+        static_cast<void>(request_sample_id);
+        static_cast<void>(dependencies);
     }
 
     /*!
@@ -161,7 +226,10 @@ class DomainParticipantListener :
             const fastrtps::string_255 type_name,
             const fastrtps::types::TypeInformation& type_information)
     {
-        (void)participant, (void)topic_name, (void)type_name, (void)type_information;
+        static_cast<void>(participant);
+        static_cast<void>(topic_name);
+        static_cast<void>(type_name);
+        static_cast<void>(type_information);
     }
 
     // TODO: Methods in DomainParticipantListener (p.33 - DDS)

include/fastdds/rtps/builtin/discovery/participant/PDP.h

@@ -31,6 +31,8 @@
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/common/Guid.h>
 #include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
+#include <fastdds/rtps/reader/ReaderDiscoveryInfo.h>
+#include <fastdds/rtps/writer/WriterDiscoveryInfo.h>
 #include <fastrtps/qos/QosPolicies.h>
 #include <fastrtps/utils/ProxyPool.hpp>
 #include <fastrtps/utils/collections/ResourceLimitedVector.hpp>
@@ -223,20 +225,44 @@ class PDP
 
     /**
      * This method removes and deletes a ReaderProxyData object from its corresponding RTPSParticipant.
-     * @param reader_guid GUID_t of the reader to remove.
+     *
+     * @param[in] reader_guid GUID_t of the reader to remove.
      * @return true if found and deleted.
      */
     bool removeReaderProxyData(
             const GUID_t& reader_guid);
 
+    /**
+     * This method removes and deletes a ReaderProxyData object from its corresponding RTPSParticipant.
+     *
+     * @param[in] reader_guid GUID_t of the reader to remove.
+     * @param[in] reason Why the reader is being removed (dropped, removed, or ignored)
+     * @return true if found and deleted.
+     */
+    bool removeReaderProxyData(
+            const GUID_t& reader_guid,
+            ReaderDiscoveryInfo::DISCOVERY_STATUS reason);
+
     /**
      * This method removes and deletes a WriterProxyData object from its corresponding RTPSParticipant.
-     * @param writer_guid GUID_t of the wtiter to remove.
+     *
+     * @param[in] writer_guid GUID_t of the wtiter to remove.
      * @return true if found and deleted.
      */
     bool removeWriterProxyData(
             const GUID_t& writer_guid);
 
+    /**
+     * This method removes and deletes a WriterProxyData object from its corresponding RTPSParticipant.
+     *
+     * @param[in] writer_guid GUID_t of the wtiter to remove.
+     * @param[in] reason Why the writer is being removed (dropped, removed, or ignored)
+     * @return true if found and deleted.
+     */
+    bool removeWriterProxyData(
+            const GUID_t& writer_guid,
+            WriterDiscoveryInfo::DISCOVERY_STATUS reason);
+
     /**
      * Create the SPDP Writer and Reader
      * @return True if correct.
@@ -276,7 +302,7 @@ class PDP
     /**
      * This method removes a remote RTPSParticipant and all its writers and readers.
      * @param participant_guid GUID_t of the remote RTPSParticipant.
-     * @param reason Why the participant is being removed (dropped vs removed)
+     * @param reason Why the participant is being removed (dropped, removed, or ignored)
      * @return true if correct.
      */
     virtual bool remove_remote_participant(

include/fastdds/rtps/participant/ParticipantDiscoveryInfo.h

@@ -44,7 +44,8 @@ struct ParticipantDiscoveryInfo
         DISCOVERED_PARTICIPANT,
         CHANGED_QOS_PARTICIPANT,
         REMOVED_PARTICIPANT,
-        DROPPED_PARTICIPANT
+        DROPPED_PARTICIPANT,
+        IGNORED_PARTICIPANT
     };
 
     ParticipantDiscoveryInfo(

include/fastdds/rtps/participant/RTPSParticipant.h

@@ -256,6 +256,33 @@ class RTPS_DllAPI RTPSParticipant
      */
     void enable();
 
+    /**
+     * @brief Ignore all messages coming from the RTPSParticipant
+     *
+     * @param[in] participant_guid RTPSParticipant GUID to be ignored
+     * @return True if correctly included into the ignore collection. False otherwise.
+     */
+    bool ignore_participant(
+            const GuidPrefix_t& participant_guid);
+
+    /**
+     * @brief Ignore all messages coming from the RTPSWriter
+     *
+     * @param[in] writer_guid RTPSWriter GUID to be ignored
+     * @return True if correctly included into the ignore collection. False otherwise.
+     */
+    bool ignore_writer(
+            const GUID_t& writer_guid);
+
+    /**
+     * @brief Ignore all messages coming from the RTPSReader
+     *
+     * @param[in] reader_guid RTPSReader GUID to be ignored
+     * @return True if correctly included into the ignore collection. False otherwise.
+     */
+    bool ignore_reader(
+            const GUID_t& reader_guid);
+
 #if HAVE_SECURITY
 
     /**