TypeObject generation (#280)

* Typeobjects with tests (#255) * Fix tests for common struct name in different modules (#268) * Refs #20052: fix tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20052: update submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> --------- Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Added TypeObject tests with templates for primitives and strings structures. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Added TypeObject tests for most cases. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Added TypeObject tests for unions enums and annotations. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Added missing checks Signed-off-by: adriancampo <adriancampo@eprosima.com> * API changes. Additional checks. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Changes if TypeIdentifiers checks. Signed-off-by: adriancampo <adriancampo@eprosima.com> * API changes. Fixed errors. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Tests use gtest now. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Format changes. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Fixed namespaces, inheritance check and type functions. Signed-off-by: adriancampo <adriancampo@eprosima.com> * Typo Signed-off-by: adriancampo <adriancampo@eprosima.com> * Refs #19595: -typeobject argument is deprecated. TypeObject files will always be generated Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix copyright and include header order. Remove unused headers Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix TypeObjectRegistry::get_type_identifiers call Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix TypeObjectRegistry::get_type_objects call Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: remove const tests: constants do not have TypeObject Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix templates. Remove non-required parameter Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: simplify test templates and include collection and string tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: refactor struct TypeObject test Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: refactor bitset TypeObject test Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: refactor bitset TypeObject tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix enum type TypeObject tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix enum literals TypeObject test Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix bitmask TypeObject tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix type detail annotations checks Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix alias tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix union type TypeObject tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix union member tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: reorder templates. Fixes for string/wstring Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: check Collection TypeIdentifier EquivalenceKind Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix discriminator API according to review suggestion Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: array type tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix map type tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: map type tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix build errors Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: check TypeIdentifier and TypeObject consistency Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: remove non-necessary template attribute Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: member applied annotations check Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: remove non necessary templates. Check already done within consistency methods Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: check dimension/union label Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: add annotation type test Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: w/string type tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: REMOVE: comment TypeObject code in order to build Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: update submodules Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fixes in TypeObject tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: update dds types test submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: update idl parser submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: fix Fast DDS include Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19595: update submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> --------- Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> Signed-off-by: adriancampo <adriancampo@eprosima.com> Co-authored-by: José Luis Bueno López <69244257+JLBuenoLopez-eProsima@users.noreply.github.com> Co-authored-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: introduce new templates to generate TypeObject code Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: TypeObject header implementation Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: minor fixes Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: move anonymous collection name generator to common code Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: skeleton Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: improve verbatim annotation test. Alias custom annotations should be included only once Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: fix typo Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: alias type implementation Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: struct_type implementation Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: fix sequential member id Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: struct members Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: refactor TypeObjectSupport infrastructure Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: refactor TypeObjectSupport Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: do not execute code in main function Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: assign proper member id with inheritance Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: refactor register struct type Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: fix calling templates with proper parameters Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: annotation impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: enum impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: w/string impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: several fixes in tests Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: alias impl. Annotation refactor Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: fix get TypeObject template Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: union impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: union member impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: bitset impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: bitmask impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: sequences impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: small refactor to adapt to new throwing API Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: update unbounded collections name Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: arrays impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #19906: map impl Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: support for not applied annotations Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: generate TypeObject tests only for main dependency Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix expected flags Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: option to avoid generating type object support files Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: delete legacy TypeObject template Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: integration, fix use of external and other minor bugs/typos Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: test integration: fix unbounded collections, correctly test collections, correctly check TypeIdentifiers, correctly use fixed_string API Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: use variables Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix conflicts after rebase Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: no type support option disables also TypeObject support generation Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix Fast DDS include Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: avoid warning Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: use genapi module conversion in TypeObject templates Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: apply review suggestions Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: create register_type_object_representation method in TypeSupport Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix map keys Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: add sequence order check and fixes in map keys and minimal annotation parameters Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: update IDL Parser submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix Windows warnings C4456: declararion hides previous local declaration Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix collection name in case of enum types Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: update IDL Parser submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: fix Windows warning Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: update IDL Parser submodule Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #20129: apply review suggestions Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> --------- Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> Signed-off-by: adriancampo <adriancampo@eprosima.com> Co-authored-by: Adrian del Campo <107918259+adriancampo@users.noreply.github.com>
eProsima · Mar 13, 2024 · d221f8b · d221f8b
1 parent c44ac1e
commit d221f8b
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Showing 14 changed files with 2,869 additions and 2,135 deletions.
diff --git a/resources/Custom.stg b/resources/Custom.stg
@@ -84,7 +84,7 @@ string_type(ctx, string) ::= <<>>
 
 wide_string_type(ctx, wstring) ::= <<>>
 
-array_declarator(ctx, array, array_type) ::= <<>>
+array_declarator(ctx, array) ::= <<>>
 
 interface(ctx, parent, interface, export_list) ::= <<>>
 

diff --git a/src/main/java/com/eprosima/fastcdr/idl/context/Context.java b/src/main/java/com/eprosima/fastcdr/idl/context/Context.java
@@ -39,10 +39,10 @@ public interface Context
 
     public String getHeaderGuardName ();
 
-    public boolean isGenerateTypeObject();
-
     public boolean isGenerateTypesROS2();
 
+    public boolean isGenerateTypeObjectSupport();
+
     public boolean isCdr();
 
     public boolean isFastcdr();

diff --git a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg
@@ -56,10 +56,6 @@ $endif$
 
 $ctx.directIncludeDependencies : {include | #include "$include$.hpp"}; separator="\n"$
 
-$if(ctx.generateTypeObject)$
-#include "$ctx.filename$TypeObject.h"
-$endif$
-
 #if defined(_WIN32)
 #if defined(EPROSIMA_USER_DLL_EXPORT)
 #define eProsima_user_DllExport __declspec( dllexport )
@@ -104,9 +100,9 @@ $if(annotation.enums || annotation.typeDefs || annotation.constDecls)$
 namespace $annotation.name$ {
     $annotation.enums : { enum | $enum_type(ctx=ctx, parent=annotation, enum=enum)$}; separator="\n"$
 
-    $annotation.typeDefs : { typedef | $typedef_decl(ctx=ctx, parent=annotation, typedefs=typedef)$}; separator="\n"$
+    $annotation.typeDefs : { typedef | $typedef_decl(ctx=ctx, parent=annotation, typedefs=typedef, typedefs_type="", declarator_type="")$}; separator="\n"$
 
-    $annotation.constDecls : { const | $const_decl(ctx=ctx, parent=annotation, const=const)$}; separator="\n"$
+    $annotation.constDecls : { const | $const_decl(ctx=ctx, parent=annotation, const=const, const_type="")$}; separator="\n"$
 
 } // namespace $annotation.name$
 $endif$
@@ -157,10 +153,6 @@ public:
         : $struct_inherit_default_init(struct.inheritance)$
         $endif$
     {
-        $if(ctx.generateTypeObject)$
-        // Just to register all known types
-        register$ctx.filename$Types();
-        $endif$
     }
 
     /*!
@@ -491,10 +483,6 @@ public:
     : $struct_inherit_default_init(bitset.inheritance)$
     $endif$
     {
-        $if(ctx.generateTypeObject)$
-        // Just to register all known types
-        register$ctx.filename$Types();
-        $endif$
     }
 
     /*!

diff --git a/src/main/java/com/eprosima/fastdds/fastddsgen.java b/src/main/java/com/eprosima/fastdds/fastddsgen.java
@@ -107,9 +107,6 @@ public class fastddsgen
     // Generates type naming compatible with ROS 2
     private boolean m_type_ros2 = false;
 
-    // Generate TypeObject files?
-    private boolean m_type_object_files = false;
-
     // Generate string and sequence types compatible with C?
     private boolean m_typesc = false;
 
@@ -144,6 +141,9 @@ public enum LANGUAGE
     // Specifies whether the dependent IDL files should be processed.
     private boolean generate_dependencies_ = true;
 
+    // Specifies whether the TypeObject Support files should be generated.
+    private boolean generate_typeobjectsupport_ = true;
+
     /*
      * ----------------------------------------------------------------------------------------
      *
@@ -307,11 +307,16 @@ else if (languageOption.equalsIgnoreCase("java"))
             else if (arg.equals(no_typesupport_arg))
             {
                 generate_typesupport_ = false;
+                generate_typeobjectsupport_ = false;
             }
             else if (arg.equals(no_dependencies_arg))
             {
                 generate_dependencies_ = false;
             }
+            else if (arg.equals(no_typeobjectsupport_arg))
+            {
+                generate_typeobjectsupport_ = false;
+            }
             else if (arg.equals(package_arg))
             {
                 if (count < args.length)
@@ -361,10 +366,6 @@ else if (arg.equals(execute_test_arg))
             {
                 m_test = true;
             }
-            else if (arg.equals(typeobject_arg))
-            {
-                m_type_object_files = true;
-            }
             else if (arg.equals(ros2_names_arg))
             {
                 m_type_ros2 = true;
@@ -579,6 +580,7 @@ private void showVersion()
     private static final String include_path_arg = "-I";
     private static final String language_arg = "-language";
     private static final String no_typesupport_arg = "-no-typesupport";
+    private static final String no_typeobjectsupport_arg = "-no-typeobjectsupport";
     private static final String no_dependencies_arg = "-no-dependencies";
     private static final String package_arg = "-package";
     private static final String disable_preprocessor_arg = "-ppDisable";
@@ -628,15 +630,15 @@ public static void printHelp()
         System.out.println("\t\t" + include_path_arg + " <path>: add directory to preprocessor include paths.");
         System.out.println("\t\t" + language_arg + " <lang>: chooses between <c++> or <java> languages.");
         System.out.println("\t\t" + no_typesupport_arg + ": avoid generating the type support files.");
+        System.out.println("\t\t" + no_typeobjectsupport_arg + ": avoid generating the TypeObject support specific files.");
+        System.out.println("\t\t\tEnabled automatically if " + no_typesupport_arg + " argument is used.");
         System.out.println("\t\t" + no_dependencies_arg + ": avoid processing the dependent IDL files.");
         System.out.println("\t\t" + package_arg + ": default package used in Java files.");
         System.out.println("\t\t" + disable_preprocessor_arg + ": disables the preprocessor.");
         System.out.println("\t\t" + preprocessor_path_arg + ": specifies the preprocessor path.");
         System.out.println("\t\t" + python_bindings_arg + ": generates python bindings for the generated types.");
         System.out.println("\t\t" + replace_arg + ": replaces existing generated files.");
         System.out.println("\t\t" + temp_dir_arg + " <temp dir>: sets a specific directory as a temporary directory.");
-        System.out.print("\t\t" + typeobject_arg + ": generates TypeObject files to automatically register the ");
-        System.out.println("types as dynamic.");
         System.out.println("\t\t" + cnames_arg + ": generates string and sequence types compatible with C.");
         System.out.println("\t\t" + ros2_names_arg + ": generates type naming compatible with ROS2.");
         System.out.println("\t\t" + version_arg + ": shows the current version of eProsima Fast DDS gen.");
@@ -730,7 +732,7 @@ private Project parseIDL(
             TemplateManager tmanager = new TemplateManager();
 
             Context ctx = new Context(tmanager, idlFilename, m_includePaths, m_subscribercode, m_publishercode,
-                            m_localAppProduct, m_type_object_files, m_typesc, m_type_ros2, gen_api_);
+                            m_localAppProduct, m_typesc, m_type_ros2, gen_api_, generate_typeobjectsupport_);
 
             String relative_dir = ctx.getRelativeDir(dependant_idl_dir);
             String output_dir;
@@ -769,11 +771,6 @@ private Project parseIDL(
             // Load common types template
             tmanager.addGroup("com/eprosima/fastcdr/idl/templates/TypesHeader.stg").enable_custom_property(
                     Context.using_explicitly_modules_custom_property);
-            if (m_type_object_files)
-            {
-                tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypeObjectHeader.stg");
-                tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypeObjectSource.stg");
-            }
 
             // Load Types common templates
             if (generate_typesupport_)
@@ -782,6 +779,12 @@ private Project parseIDL(
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg");
+
+                if (generate_typeobjectsupport_)
+                {
+                    tmanager.addGroup("com/eprosima/fastdds/idl/templates/XTypesTypeObjectHeader.stg");
+                    tmanager.addGroup("com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg");
+                }
             }
 
             if (m_exampleOption != null)
@@ -804,6 +807,12 @@ private Project parseIDL(
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/SerializationTestSource.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/SerializationHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/SerializationSource.stg");
+
+                if (generate_typeobjectsupport_)
+                {
+                    // Load TypeObjectSupport test template
+                    tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypeObjectTestingTestSource.stg");
+                }
             }
 
             // Add JNI sources.
@@ -852,8 +861,7 @@ private Project parseIDL(
                 lexer.setContext(ctx);
                 CommonTokenStream tokens = new CommonTokenStream(lexer);
                 IDLParser parser = new IDLParser(tokens);
-                // Pass the finelame without the extension
-
+                // Pass the filename without the extension
                 Specification specification = parser.specification(ctx, tmanager, maintemplates).spec;
                 returnedValue = specification != null && !tmanager.get_st_error();;
 
@@ -909,32 +917,17 @@ private Project parseIDL(
                         maintemplates.getTemplate("com/eprosima/fastcdr/idl/templates/TypesHeader.stg"),
                         m_replace)))
                 {
-                   project.addCommonIncludeFile(relative_dir + ctx.getFilename() + ".hpp");
-
-                   if (m_type_object_files)
-                   {
-                       System.out.println("Generating TypeObject files...");
-                       if (returnedValue = Utils.writeFile(output_dir + ctx.getFilename() + "TypeObject.h",
-                                   maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypeObjectHeader.stg"), m_replace))
-                       {
-                           if (returnedValue = Utils.writeFile(output_dir + ctx.getFilename() + "TypeObject.cxx",
-                                       maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypeObjectSource.stg"), m_replace))
-                           {
-                               project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "TypeObject.h");
-                               project.addCommonSrcFile(relative_dir + ctx.getFilename() + "TypeObject.cxx");
-                           }
-                       }
-                   }
-                   if (m_python)
-                   {
-                       System.out.println("Generating Swig interface files...");
-                       if (returnedValue =
-                               Utils.writeFile(output_dir + ctx.getFilename() + ".i",
-                                   maintemplates.getTemplate("com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg"), m_replace))
-                       {
-
-                       }
-                   }
+                    project.addCommonIncludeFile(relative_dir + ctx.getFilename() + ".hpp");
+
+                    if (m_python)
+                    {
+                        System.out.println("Generating Swig interface files...");
+                        if (returnedValue =
+                                Utils.writeFile(output_dir + ctx.getFilename() + ".i",
+                                    maintemplates.getTemplate("com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg"), m_replace))
+                        {
+                        }
+                    }
                 }
 
                 if (m_test)
@@ -961,11 +954,34 @@ private Project parseIDL(
                         String trimmedElement = element.substring(0, element.length() - 4);// Remove .idl
                         project.addCommonTestingFile(trimmedElement + "Serialization.cpp");
                     }
+
+                    if (generate_typeobjectsupport_)
+                    {
+                        System.out.println("Generating TypeObjects Test file...");
+                        String fileNameTO = output_dir + ctx.getFilename() + "TypeObjectTestingTest.cpp";
+                        returnedValue = Utils.writeFile(fileNameTO, maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypeObjectTestingTestSource.stg"), m_replace);
+                        project.addTypeObjectTestingFile(relative_dir + ctx.getFilename() + "TypeObjectTestingTest.cpp");
+                    }
                 }
 
                 System.out.println("Generating Type Support files...");
                 if (generate_typesupport_)
                 {
+                    if (generate_typeobjectsupport_)
+                    {
+                        System.out.println("Generating TypeObjectSupport files...");
+                        if (returnedValue &= Utils.writeFile(output_dir + ctx.getFilename() + "TypeObjectSupport.hpp",
+                                maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/XTypesTypeObjectHeader.stg"), m_replace))
+                        {
+                            if (returnedValue &= Utils.writeFile(output_dir + ctx.getFilename() + "TypeObjectSupport.cxx",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg"), m_replace))
+                            {
+                                project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "TypeObjectSupport.hpp");
+                                project.addCommonSrcFile(relative_dir + ctx.getFilename() + "TypeObjectSupport.cxx");
+                            }
+                        }
+                    }
+
                     if (ctx.isThereIsStructOrUnion())
                     {
                         if (returnedValue &=
@@ -1669,7 +1685,7 @@ public void run()
                 }
                 else
                 {
-                    // Sustituir los "\\" que pone cl.exe por "\"
+                    // Substitute "\\" added by cl.exe for "\"
                     if (line.startsWith(clLine))
                     {
                         line = "#" + line.substring(clLine.length());

diff --git a/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java b/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
@@ -61,10 +61,10 @@ public Context(
             boolean subscribercode,
             boolean publishercode,
             String appProduct,
-            boolean generate_type_object,
             boolean generate_typesc,
             boolean generate_type_ros2,
-            boolean is_generating_api
+            boolean is_generating_api,
+            boolean generate_typeobjectsupport
             )
     {
         super(tmanager, file, includePaths, generate_typesc);
@@ -78,13 +78,13 @@ public Context(
         //m_protocol = protocol;
         //m_ddstypes = ddstypes;
 
-        m_type_object = generate_type_object;
         m_type_ros2 = generate_type_ros2;
         is_generating_api_ = is_generating_api;
+        generate_typeobject_support_ = generate_typeobjectsupport;
 
         // Create default @Key annotation.
-        AnnotationDeclaration keyann = this.createAnnotationDeclaration("Key", null);
-        keyann.addMember(new AnnotationMember("value", new PrimitiveTypeCode(Kind.KIND_BOOLEAN), "true"));
+        AnnotationDeclaration keyann = this.createAnnotationDeclaration(Annotation.eprosima_key_str, null);
+        keyann.addMember(new AnnotationMember(Annotation.value_str, new PrimitiveTypeCode(Kind.KIND_BOOLEAN), Annotation.true_str));
 
     }
 
@@ -565,20 +565,20 @@ public String getPackageUnder()
 
     private TypeDeclaration m_lastStructure = null;
 
-    private boolean m_type_object = false;
-
     private boolean m_type_ros2 = false;
 
+    private boolean generate_typeobject_support_ = true;
+
     @Override
-    public boolean isGenerateTypeObject()
+    public boolean isGenerateTypesROS2()
     {
-        return m_type_object;
+        return m_type_ros2;
     }
 
     @Override
-    public boolean isGenerateTypesROS2()
+    public boolean isGenerateTypeObjectSupport()
     {
-        return m_type_ros2;
+        return generate_typeobject_support_;
     }
 
     public String getHeaderGuardName ()

diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg b/src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg
@@ -43,19 +43,23 @@ find_package(fastrtps 2.12 REQUIRED)
 
 $solution.projects : { project | $pub_sub_execs(project=project, libraries=solution.libraries, test=test)$}; separator="\n"$
 
+$if (test)$
+$type_object_tests(project=solution.mainProject, libraries=solution.libraries)$
+$endif$
+
 >>
 
 pub_sub_execs(project, libraries, test) ::= <<
 
 message(STATUS "Configuring $project.name$...")
 $if(!project.commonSrcFiles.empty)$
 add_library($project.name$_lib $project.commonSrcFiles : { file | $file$}; separator=" "$)
-target_link_libraries($project.name$_lib $solution.libraries : { library | $library$}; separator=" "$)
+target_link_libraries($project.name$_lib $libraries : { library | $library$}; separator=" "$)
 $endif$
 
 $if(!project.projectSrcFiles.empty)$
 add_executable($project.name$ $project.projectSrcFiles : { file | $file$}; separator=" "$)
-target_link_libraries($project.name$ $solution.libraries : { library | $library$}; separator=" "$
+target_link_libraries($project.name$ $libraries : { library | $library$}; separator=" "$
         $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$
         )
 $endif$
@@ -77,11 +81,26 @@ add_executable($project.name$SerializationTest
 )
 target_link_libraries($project.name$SerializationTest
         GTest::gtest_main
-        $solution.libraries : { library | $library$}; separator=" "$
+        $libraries : { library | $library$}; separator=" "$
         $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$
         )
 gtest_discover_tests($project.name$SerializationTest)
 
 $endif$
 
+
+>>
+
+type_object_tests(project, libraries) ::= <<
+$if(project.typeObjectTestingFiles)$
+# $project.name$ TypeObject Test
+add_executable($project.name$TypeObjectTestingTest
+        $project.typeObjectTestingFiles : { file | $file$}; separator="\n"$
+)
+target_link_libraries($project.name$TypeObjectTestingTest
+        GTest::gtest_main
+        $libraries : { library | $library$}; separator=" "$
+        $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$)
+gtest_discover_tests($project.name$TypeObjectTestingTest)
+$endif$
 >>