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Signed-off-by: tempate <danieldiaz@eprosima.com>

ddsrecorder/src/cpp/tool/DdsRecorder.cpp

@@ -31,9 +31,10 @@ using namespace eprosima::ddsrecorder::participants;
 using namespace eprosima::utils;
 
 DdsRecorder::DdsRecorder(
-        yaml::RecorderConfiguration& configuration,
+        const yaml::RecorderConfiguration& configuration,
         const DdsRecorderStateCode& init_state,
         const std::string& file_name)
+        : configuration_(configuration)
 {
     // Create Discovery Database
     discovery_database_ = std::make_shared<DiscoveryDatabase>();
@@ -42,17 +43,17 @@ DdsRecorder::DdsRecorder(
     payload_pool_ = std::make_shared<FastPayloadPool>();
 
     // Create Thread Pool
-    thread_pool_ = std::make_shared<SlotThreadPool>(configuration.n_threads);
+    thread_pool_ = std::make_shared<SlotThreadPool>(configuration_.n_threads);
 
     // Fill MCAP output file settings
     participants::McapOutputSettings mcap_output_settings;
     if (file_name == "")
     {
-        mcap_output_settings.output_filename = configuration.output_filename;
-        mcap_output_settings.output_filepath = configuration.output_filepath;
+        mcap_output_settings.output_filename = configuration_.output_filename;
+        mcap_output_settings.output_filepath = configuration_.output_filepath;
         mcap_output_settings.prepend_timestamp = true;
-        mcap_output_settings.output_timestamp_format = configuration.output_timestamp_format;
-        mcap_output_settings.output_local_timestamp = configuration.output_local_timestamp;
+        mcap_output_settings.output_timestamp_format = configuration_.output_timestamp_format;
+        mcap_output_settings.output_local_timestamp = configuration_.output_local_timestamp;
     }
     else
     {
@@ -64,14 +65,14 @@ DdsRecorder::DdsRecorder(
     // Create MCAP Handler configuration
     participants::McapHandlerConfiguration handler_config(
         mcap_output_settings,
-        configuration.max_pending_samples,
-        configuration.buffer_size,
-        configuration.event_window,
-        configuration.cleanup_period,
-        configuration.log_publish_time,
-        configuration.only_with_type,
-        configuration.mcap_writer_options,
-        configuration.record_types);
+        configuration_.max_pending_samples,
+        configuration_.buffer_size,
+        configuration_.event_window,
+        configuration_.cleanup_period,
+        configuration_.log_publish_time,
+        configuration_.only_with_type,
+        configuration_.mcap_writer_options,
+        configuration_.record_types);
 
     // Create MCAP Handler
     mcap_handler_ = std::make_shared<participants::McapHandler>(
@@ -81,22 +82,32 @@ DdsRecorder::DdsRecorder(
 
     // Create DynTypes Participant
     dyn_participant_ = std::make_shared<DynTypesParticipant>(
-        configuration.simple_configuration,
+        configuration_.simple_configuration,
         payload_pool_,
         discovery_database_);
     dyn_participant_->init();
 
     // Create Recorder Participant
     recorder_participant_ = std::make_shared<SchemaParticipant>(
-        configuration.recorder_configuration,
+        configuration_.recorder_configuration,
         payload_pool_,
         discovery_database_,
         mcap_handler_);
 
     // Create an internal topic to transmit the dynamic types
-    configuration.ddspipe_configuration.builtin_topics.insert(
+    configuration_.ddspipe_configuration.builtin_topics.insert(
         utils::Heritable<DistributedTopic>::make_heritable(type_object_topic()));
 
+    if (!configuration_.ddspipe_configuration.allowlist.empty())
+    {
+        // The allowlist is not empty. Add the internal topic.
+        WildcardDdsFilterTopic internal_topic;
+        internal_topic.topic_name.set_value(TYPE_OBJECT_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(internal_topic));
+    }
+
     // Create Participant Database
     participants_database_ = std::make_shared<ParticipantsDatabase>();
 
@@ -112,7 +123,7 @@ DdsRecorder::DdsRecorder(
 
     // Create DDS Pipe
     pipe_ = std::make_unique<DdsPipe>(
-        configuration.ddspipe_configuration,
+        configuration_.ddspipe_configuration,
         discovery_database_,
         payload_pool_,
         participants_database_,

ddsrecorder/src/cpp/tool/DdsRecorder.hpp

@@ -65,7 +65,7 @@ class DdsRecorder
      * @param file_name:     Name of the mcap file where data is recorded. If not provided, the one from configuration is used instead.
      */
     DdsRecorder(
-            yaml::RecorderConfiguration& configuration,
+            const yaml::RecorderConfiguration& configuration,
             const DdsRecorderStateCode& init_state,
             const std::string& file_name = "");
 
@@ -100,6 +100,9 @@ class DdsRecorder
     static participants::McapHandlerStateCode recorder_to_handler_state_(
             const DdsRecorderStateCode& recorder_state);
 
+    //! Configuration of the DDS Recorder
+    yaml::RecorderConfiguration configuration_;
+
     //! Payload Pool
     std::shared_ptr<ddspipe::core::PayloadPool> payload_pool_;
 

ddsrecorder_participants/src/cpp/replayer/ReplayerParticipant.cpp

@@ -33,10 +33,6 @@ ReplayerParticipant::ReplayerParticipant(
         payload_pool,
         discovery_database)
 {
-    // Delete endpoint discovery/removal callbacks inserted in DDS-Pipe core.
-    // This is to avoid the creation of useless bridges and tracks created when discovering endpoints in topics other
-    // than the ones present in MCAP.
-    discovery_database_->clear_all_callbacks();
 }
 
 std::shared_ptr<IReader> ReplayerParticipant::create_reader(

ddsrecorder_yaml/src/cpp/recorder/YamlReaderConfiguration.cpp

@@ -356,12 +356,6 @@ void RecorderConfiguration::load_dds_configuration_(
     {
         ddspipe_configuration.allowlist = YamlReader::get_set<utils::Heritable<IFilterTopic>>(yml, ALLOWLIST_TAG,
                         version);
-
-        // Add to allowlist always the type object topic
-        WildcardDdsFilterTopic internal_topic;
-        internal_topic.topic_name.set_value(TYPE_OBJECT_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(internal_topic));
     }
 
     /////

ddsreplayer/src/cpp/tool/DdsReplayer.cpp

@@ -127,10 +127,6 @@ DdsReplayer::DdsReplayer(
     // Generate builtin-topics from the topics in the MCAP file
     configuration.ddspipe_configuration.builtin_topics = generate_builtin_topics_(configuration, input_file);
 
-    // Create an internal topic to transmit the dynamic types
-    configuration.ddspipe_configuration.builtin_topics.insert(
-        utils::Heritable<DistributedTopic>::make_heritable(type_object_topic()));
-
     // Create DDS Pipe
     pipe_ = std::make_unique<DdsPipe>(
         configuration.ddspipe_configuration,

docs/rst/recording/usage/configuration.rst

@@ -33,6 +33,17 @@ DDS Configuration
 
 Configuration related to DDS communication.
 
+.. _recorder_usage_configuration_domain_id:
+
+DDS Domain
+^^^^^^^^^^
+
+Tag ``domain`` configures the :term:`Domain Id`.
+
+.. code-block:: yaml
+
+    domain: 101
+
 .. _recorder_builtin_topics:
 
 Built-in Topics
@@ -55,7 +66,7 @@ The ``builtin-topics`` must specify a ``name`` and ``type`` without wildcard cha
 .. _recorder_topic_filtering:
 
 Topic Filtering
----------------
+^^^^^^^^^^^^^^^
 
 The |ddsrecorder| automatically detects the topics that are being used in a DDS Network.
 The |ddsrecorder| then creates internal DDS :term:`Readers<DataReader>` to record the data published on each topic.
@@ -213,18 +224,6 @@ If a ``qos`` is not manually configured, it will get its value by discovery.
 
     The :ref:`Topic QoS <recorder_topic_qos>` configured in the Manual Topics take precedence over the :ref:`Specs Topic QoS <recorder_specs_topic_qos>`.
 
-.. _recorder_usage_configuration_domain_id:
-
-DDS Domain
-^^^^^^^^^^
-
-Tag ``domain`` configures the :term:`Domain Id`.
-
-.. code-block:: yaml
-
-    domain: 101
-
-
 .. _recorder_ignore_participant_flags:
 
 Ignore Participant Flags

docs/rst/replaying/usage/configuration.rst

@@ -32,10 +32,21 @@ DDS Configuration
 
 Configuration related to DDS communication.
 
+.. _replayer_usage_configuration_domain_id:
+
+DDS Domain
+^^^^^^^^^^
+
+Tag ``domain`` configures the :term:`Domain Id`.
+
+.. code-block:: yaml
+
+    domain: 101
+
 .. _replayer_topic_filtering:
 
 Topic Filtering
----------------
+^^^^^^^^^^^^^^^
 
 The |ddsreplayer| automatically detects the topics that are being used in a DDS Network.
 The |ddsreplayer| then creates internal DDS :term:`Writers<DataWriter>` to replay the data published on each topic.
@@ -156,7 +167,7 @@ By default it is set to ``0``; it sends samples at an unlimited transmission rat
 
 .. note::
 
-    The ``max-tx-rate`` tag can be set (in order of precedence) for topics, for participants, and globally in specs.
+    The ``max-tx-rate`` tag can be set (in order of precedence) for topics and globally in specs.
 
 .. _replayer_manual_topics:
 
@@ -182,17 +193,6 @@ If a ``qos`` is not manually configured, it will get its value by discovery.
 
     The :ref:`Topic QoS <replayer_topic_qos>` configured in the Manual Topics take precedence over the :ref:`Specs Topic QoS <replayer_specs_topic_qos>`.
 
-.. _replayer_usage_configuration_domain_id:
-
-DDS Domain
-^^^^^^^^^^
-
-Tag ``domain`` configures the :term:`Domain Id`.
-
-.. code-block:: yaml
-
-    domain: 101
-
 
 .. _replayer_ignore_participant_flags: