feat(LibCarla/ros2): [4/7] add CycloneDDS to middleware enum, factory, and tests

LibCarla/source/carla/ros2/dds/DDSMiddleware.h

@@ -13,14 +13,17 @@ namespace ros2 {
 /// Passed to ROS2::Enable() to select the middleware at startup.
 /// Once set, the middleware cannot be changed without restarting.
 enum class DDSMiddleware {
-  FastDDS
+  FastDDS,
+  CycloneDDS
 };
 
 /// Convert a DDSMiddleware enum value to a readable string.
 inline const char* DDSMiddlewareToString(DDSMiddleware middleware) {
   switch (middleware) {
     case DDSMiddleware::FastDDS:
       return "FastDDS";
+    case DDSMiddleware::CycloneDDS:
+      return "CycloneDDS";
   }
   return "Unknown";
 }
@@ -37,6 +40,9 @@ inline DDSMiddlewareParseResult DDSMiddlewareFromString(const std::string& name)
   if (name == "fastdds") {
     return {true, DDSMiddleware::FastDDS};
   }
+  if (name == "cyclonedds") {
+    return {true, DDSMiddleware::CycloneDDS};
+  }
   return {false, DDSMiddleware::FastDDS};
 }
 
@@ -45,6 +51,12 @@ inline std::string GetAvailableMiddlewareString() {
   std::string result;
 #if defined(CARLA_ROS2_DDS_FASTDDS)
   result += "FastDDS";
+#endif
+#if defined(CARLA_ROS2_DDS_CYCLONEDDS)
+  if (!result.empty()) {
+    result += ", ";
+  }
+  result += "CycloneDDS";
 #endif
   if (result.empty()) {
     result = "none";

LibCarla/source/carla/ros2/dds/DDSMiddlewareFactory.h

@@ -17,6 +17,11 @@
 #  include "carla/ros2/dds/fastdds/FastDDSSubscriberMiddleware.h"
 #endif
 
+#if defined(CARLA_ROS2_DDS_CYCLONEDDS) && !defined(CARLA_ROS2_DDS_TESTING)
+#  include "carla/ros2/dds/cyclonedds/CycloneDDSPublisherMiddleware.h"
+#  include "carla/ros2/dds/cyclonedds/CycloneDDSSubscriberMiddleware.h"
+#endif
+
 namespace carla {
 namespace ros2 {
 
@@ -44,6 +49,12 @@ class DDSMiddlewareFactory {
         return true;
 #else
         return false;
+#endif
+      case DDSMiddleware::CycloneDDS:
+#if defined(CARLA_ROS2_DDS_CYCLONEDDS)
+        return true;
+#else
+        return false;
 #endif
     }
     return false;
@@ -83,6 +94,14 @@ class DDSMiddlewareFactory {
 #else
         log_error("DDSMiddlewareFactory: FastDDS not compiled in");
         return nullptr;
+#endif
+      case DDSMiddleware::CycloneDDS:
+#if defined(CARLA_ROS2_DDS_CYCLONEDDS) && !defined(CARLA_ROS2_DDS_TESTING)
+        return std::unique_ptr<IDDSPublisherMiddleware>(
+            new CycloneDDSPublisherMiddleware<T>());
+#else
+        log_error("DDSMiddlewareFactory: CycloneDDS not compiled in");
+        return nullptr;
 #endif
     }
     return nullptr;
@@ -101,6 +120,14 @@ class DDSMiddlewareFactory {
 #else
         log_error("DDSMiddlewareFactory: FastDDS not compiled in");
         return nullptr;
+#endif
+      case DDSMiddleware::CycloneDDS:
+#if defined(CARLA_ROS2_DDS_CYCLONEDDS) && !defined(CARLA_ROS2_DDS_TESTING)
+        return std::unique_ptr<IDDSSubscriberMiddleware>(
+            new CycloneDDSSubscriberMiddleware<S>());
+#else
+        log_error("DDSMiddlewareFactory: CycloneDDS not compiled in");
+        return nullptr;
 #endif
     }
     return nullptr;

LibCarla/source/carla/ros2/dds/cyclonedds/CycloneDDSPublisherMiddleware.h

@@ -0,0 +1,45 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/ros2/dds/IDDSPublisherMiddleware.h"
+#include "carla/Logging.h"
+
+namespace carla {
+namespace ros2 {
+
+/// CycloneDDS implementation of IDDSPublisherMiddleware (stub).
+///
+/// This is a placeholder that compiles and satisfies the factory interface
+/// but does not contain a real CycloneDDS implementation. All operations
+/// log an error and return failure. The real implementation will replace
+/// this file once CycloneDDS types and the C API are available.
+///
+/// Parameterized on a traits type T that provides:
+///   T::msg_type  — middleware-neutral POD message struct
+template<typename T>
+class CycloneDDSPublisherMiddleware : public IDDSPublisherMiddleware {
+ public:
+  bool Init(const std::string& topic_name) override {
+    log_error("CycloneDDSPublisherMiddleware: stub — not yet implemented "
+              "(topic '", topic_name, "')");
+    return false;
+  }
+
+  bool Publish(void* /*message_data*/) override {
+    return false;
+  }
+
+  bool IsAlive() const override {
+    return false;
+  }
+
+  std::string GetTopicName() const override {
+    return {};
+  }
+};
+
+} // namespace ros2
+} // namespace carla

LibCarla/source/carla/ros2/dds/cyclonedds/CycloneDDSSubscriberMiddleware.h

@@ -0,0 +1,44 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/ros2/dds/IDDSSubscriberMiddleware.h"
+#include "carla/Logging.h"
+
+namespace carla {
+namespace ros2 {
+
+/// CycloneDDS implementation of IDDSSubscriberMiddleware (stub).
+///
+/// This is a placeholder that compiles and satisfies the factory interface
+/// but does not contain a real CycloneDDS implementation. All operations
+/// log an error and return failure. The real implementation will replace
+/// this file once CycloneDDS types and the C API are available.
+///
+/// Parameterized on a traits type S that provides:
+///   S::msg_type  — middleware-neutral POD message struct
+template<typename S>
+class CycloneDDSSubscriberMiddleware : public IDDSSubscriberMiddleware {
+ public:
+  bool Init(
+      const std::string& topic_name,
+      void* /*message_ptr*/,
+      bool* /*new_message_flag*/) override {
+    log_error("CycloneDDSSubscriberMiddleware: stub — not yet implemented "
+              "(topic '", topic_name, "')");
+    return false;
+  }
+
+  bool IsAlive() const override {
+    return false;
+  }
+
+  std::string GetTopicName() const override {
+    return {};
+  }
+};
+
+} // namespace ros2
+} // namespace carla

LibCarla/source/test/server/test_dds_middleware.cpp

@@ -107,19 +107,26 @@ class DDSMiddlewareFactoryFixture : public ::testing::Test {
 // ==========================================================================
 
 TEST(dds_middleware_enum, values_exist) {
-  DDSMiddleware mw = DDSMiddleware::FastDDS;
-  EXPECT_EQ(static_cast<int>(mw), 0);
+  DDSMiddleware mw_fast = DDSMiddleware::FastDDS;
+  EXPECT_EQ(static_cast<int>(mw_fast), 0);
+  DDSMiddleware mw_cyclone = DDSMiddleware::CycloneDDS;
+  EXPECT_EQ(static_cast<int>(mw_cyclone), 1);
 }
 
 TEST(dds_middleware_enum, switch_covers_all) {
-  DDSMiddleware mw = DDSMiddleware::FastDDS;
-  bool covered = false;
-  switch (mw) {
-    case DDSMiddleware::FastDDS:
-      covered = true;
-      break;
+  DDSMiddleware values[] = {DDSMiddleware::FastDDS, DDSMiddleware::CycloneDDS};
+  for (auto mw : values) {
+    bool covered = false;
+    switch (mw) {
+      case DDSMiddleware::FastDDS:
+        covered = true;
+        break;
+      case DDSMiddleware::CycloneDDS:
+        covered = true;
+        break;
+    }
+    EXPECT_TRUE(covered);
   }
-  EXPECT_TRUE(covered);
 }
 
 // ==========================================================================
@@ -140,6 +147,10 @@ TEST(dds_middleware_to_string, result_is_not_empty) {
   EXPECT_STRNE(result, "");
 }
 
+TEST(dds_middleware_to_string, cyclonedds_returns_correct_string) {
+  EXPECT_STREQ(DDSMiddlewareToString(DDSMiddleware::CycloneDDS), "CycloneDDS");
+}
+
 // ==========================================================================
 // Group 3: dds_middleware_from_string (5 tests)
 // ==========================================================================
@@ -151,10 +162,16 @@ TEST(dds_middleware_from_string, fastdds_lowercase_valid) {
 }
 
 TEST(dds_middleware_from_string, unknown_string_invalid) {
-  auto result = DDSMiddlewareFromString("cyclonedds");
+  auto result = DDSMiddlewareFromString("unknowndds");
   EXPECT_FALSE(result.valid);
 }
 
+TEST(dds_middleware_from_string, cyclonedds_lowercase_valid) {
+  auto result = DDSMiddlewareFromString("cyclonedds");
+  EXPECT_TRUE(result.valid);
+  EXPECT_EQ(result.middleware, DDSMiddleware::CycloneDDS);
+}
+
 TEST(dds_middleware_from_string, empty_string_invalid) {
   auto result = DDSMiddlewareFromString("");
   EXPECT_FALSE(result.valid);
@@ -184,6 +201,11 @@ TEST(dds_middleware_available, available_string_contains_fastdds) {
   EXPECT_NE(available.find("FastDDS"), std::string::npos);
 }
 
+TEST(dds_middleware_available, cyclonedds_not_available_without_macro) {
+  EXPECT_FALSE(
+      DDSMiddlewareFactory::IsMiddlewareAvailable(DDSMiddleware::CycloneDDS));
+}
+
 // ==========================================================================
 // Group 5: dds_middleware_type_name (4 tests)
 // ==========================================================================
@@ -236,6 +258,34 @@ TEST_F(DDSMiddlewareFactoryFixture, factory_available_string) {
   EXPECT_NE(available.find("FastDDS"), std::string::npos);
 }
 
+TEST_F(DDSMiddlewareFactoryFixture, set_and_get_cyclonedds) {
+  DDSMiddlewareFactory::SetMiddleware(DDSMiddleware::CycloneDDS);
+  EXPECT_EQ(DDSMiddlewareFactory::GetMiddleware(), DDSMiddleware::CycloneDDS);
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, resolve_unavailable_cyclonedds) {
+  auto resolution =
+      DDSMiddlewareFactory::ResolveMiddleware(DDSMiddleware::CycloneDDS);
+  EXPECT_FALSE(resolution.success);
+  EXPECT_EQ(resolution.middleware, DDSMiddleware::CycloneDDS);
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, create_publisher_cyclonedds_unavailable) {
+  DDSMiddlewareFactory::SetMiddleware(DDSMiddleware::CycloneDDS);
+  ::testing::internal::CaptureStderr();
+  auto pub = DDSMiddlewareFactory::CreatePublisher<TestPubTraits>();
+  ::testing::internal::GetCapturedStderr();
+  EXPECT_EQ(pub, nullptr);
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, create_subscriber_cyclonedds_unavailable) {
+  DDSMiddlewareFactory::SetMiddleware(DDSMiddleware::CycloneDDS);
+  ::testing::internal::CaptureStderr();
+  auto sub = DDSMiddlewareFactory::CreateSubscriber<TestSubTraits>();
+  ::testing::internal::GetCapturedStderr();
+  EXPECT_EQ(sub, nullptr);
+}
+
 // ==========================================================================
 // Group 7: dds_publisher_interface (5 tests)
 // ==========================================================================