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Feature: RPC enhanced discovery (#5899)
* Refs #23361: Add related_entity_key to *BuiltinTopicData Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add unittest to BuiltinSerializationTests Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add serialization impl for related_entity_key Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add empty API for set_related_entity_key() Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add unittests for set_related_entity_key() Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add implementation for set_related_entity_key() Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add RPC Enhanced discovery BB tests Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Add RPC Enhanced discovery implementation Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: CMakeLists.txt Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Apply set_related_entity() Miguel's review Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Apply Request Replier Miguel's review Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Linter Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Comment errata Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Fix compilation without STATISTICS Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: versions.md Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Apply second review Signed-off-by: Mario Dominguez <[email protected]> * Refs #23361: Improve discovery status in BB RPC Api classes as a consequence of Replier/Requester discovery listeners Signed-off-by: Mario Dominguez <[email protected]> --------- Signed-off-by: Mario Dominguez <[email protected]>
1 parent bf55d52 commit 1b33309

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-125
lines changed

‎include/fastdds/dds/publisher/DataWriter.hpp‎

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@@ -44,6 +44,7 @@ struct GUID_t;
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namespace dds {
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class DataReader;
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class PublisherListener;
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class PublisherImpl;
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class Publisher;
@@ -613,6 +614,24 @@ class DataWriter : public DomainEntity
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FASTDDS_EXPORTED_API ReturnCode_t set_sample_prefilter(
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std::shared_ptr<IContentFilter> prefilter);
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/**
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* This operation sets the key of the DataReader that is related to this DataWriter.
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* This is used to establish a relationship between a DataReader and a DataWriter
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* in the context of RPC over DDS.
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*
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* @warning This operation is only valid if the entity is not enabled.
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*
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* @param [in] related_reader Pointer to the DataReader to set as related.
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*
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* @return RETCODE_OK if the key is set successfully.
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* @return RETCODE_ILLEGAL_OPERATION if this entity is enabled.
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* @return RETCODE_PRECONDITION_NOT_MET if the entity does not belong to the same participant.
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* @return RETCODE_BAD_PARAMETER if the provided GUID is unknown
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* or the pointer is not valid.
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*/
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FASTDDS_EXPORTED_API ReturnCode_t set_related_datareader(
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const DataReader* related_reader);
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protected:
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DataWriterImpl* impl_;

‎include/fastdds/dds/subscriber/DataReader.hpp‎

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@@ -65,6 +65,7 @@ class SubscriberImpl;
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class DataReaderImpl;
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class DataReaderListener;
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class DataReaderQos;
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class DataWriter;
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class TopicDescription;
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struct LivelinessChangedStatus;
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@@ -1088,6 +1089,24 @@ class DataReader : public DomainEntity
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FASTDDS_EXPORTED_API ReturnCode_t get_subscription_builtin_topic_data(
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SubscriptionBuiltinTopicData& subscription_data) const;
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/**
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* This operation sets the key of the DataWriter that is related to this DataReader.
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* This is used to establish a relationship between a DataReader and a DataWriter
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* in the context of RPC over DDS.
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*
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* @warning This operation is only valid if the entity is not enabled.
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*
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* @param [in] related_writer Pointer to the DataWriter to set as related.
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*
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* @return RETCODE_OK if the key is set successfully.
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* @return RETCODE_ILLEGAL_OPERATION if this entity is enabled.
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* @return RETCODE_PRECONDITION_NOT_MET if the entity does not belong to the same participant.
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* @return RETCODE_BAD_PARAMETER if the provided GUID is unknown
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* or the pointer is not valid.
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*/
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FASTDDS_EXPORTED_API ReturnCode_t set_related_datawriter(
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const DataWriter* related_writer);
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protected:
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DataReaderImpl* impl_;

‎include/fastdds/rtps/builtin/data/PublicationBuiltinTopicData.hpp‎

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@@ -125,6 +125,11 @@ struct PublicationBuiltinTopicData
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/// Data representation
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dds::DataRepresentationQosPolicy representation;
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// RPC over DDS V1.0
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// Related DataReader Key
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GUID_t related_datareader_key;
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// eProsima extensions
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/// Disable positive acks, implemented in the library.

‎include/fastdds/rtps/builtin/data/SubscriptionBuiltinTopicData.hpp‎

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@@ -125,6 +125,11 @@ struct SubscriptionBuiltinTopicData
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/// Type consistency enforcement Qos, NOT implemented in the library.
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dds::TypeConsistencyEnforcementQosPolicy type_consistency;
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// RPC over DDS V1.0
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// Related DataWriter Key
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GUID_t related_datawriter_key;
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// eProsima Extensions
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/// Content filter configuration

‎src/cpp/fastdds/domain/DomainParticipantImpl.cpp‎

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@@ -2036,7 +2036,12 @@ rpc::Service* DomainParticipantImpl::create_service(
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// that it will use for DDS endpoints creation, if it is necessary
20372037
if (!services_publisher_.second)
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{
2039-
Publisher* pub = create_publisher(PUBLISHER_QOS_DEFAULT);
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// Disable automatic enabling of created entities
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// This is necessary to previously set the related_entity_key
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PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
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pub_qos.entity_factory().autoenable_created_entities = false;
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Publisher* pub = create_publisher(pub_qos);
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if (!pub)
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{
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EPROSIMA_LOG_ERROR(PARTICIPANT, "Error creating Services publisher.");
@@ -2047,7 +2052,12 @@ rpc::Service* DomainParticipantImpl::create_service(
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if (!services_subscriber_.second)
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{
2050-
Subscriber* sub = create_subscriber(SUBSCRIBER_QOS_DEFAULT);
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// Disable automatic enabling of created entities
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// This is necessary to previously set the related_entity_key
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SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
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sub_qos.entity_factory().autoenable_created_entities = false;
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2060+
Subscriber* sub = create_subscriber(sub_qos);
20512061
if (!sub)
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{
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EPROSIMA_LOG_ERROR(PARTICIPANT, "Error creating Services subscriber.");

‎src/cpp/fastdds/publisher/DataWriter.cpp‎

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@@ -311,6 +311,12 @@ ReturnCode_t DataWriter::set_sample_prefilter(
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return impl_->set_sample_prefilter(prefilter);
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}
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314+
ReturnCode_t DataWriter::set_related_datareader(
315+
const DataReader* related_reader)
316+
{
317+
return impl_->set_related_datareader(related_reader);
318+
}
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} // namespace dds
315321
} // namespace fastdds
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} // namespace eprosima

‎src/cpp/fastdds/publisher/DataWriterImpl.cpp‎

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@@ -28,6 +28,7 @@
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#include <fastdds/dds/core/ReturnCode.hpp>
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/log/Log.hpp>
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#include <fastdds/dds/subscriber/DataReader.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
3233
#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/publisher/PublisherListener.hpp>
@@ -1517,6 +1518,34 @@ ReturnCode_t DataWriterImpl::set_sample_prefilter(
15171518
return RETCODE_OK;
15181519
}
15191520

1521+
ReturnCode_t DataWriterImpl::set_related_datareader(
1522+
const DataReader* related_reader)
1523+
{
1524+
ReturnCode_t ret = RETCODE_ILLEGAL_OPERATION;
1525+
1526+
if (nullptr == writer_)
1527+
{
1528+
if (nullptr != related_reader &&
1529+
related_reader->guid() != c_Guid_Unknown)
1530+
{
1531+
if (related_reader->guid().guidPrefix == guid_.guidPrefix)
1532+
{
1533+
related_datareader_key_ = related_reader->guid();
1534+
ret = RETCODE_OK;
1535+
}
1536+
else
1537+
{
1538+
ret = RETCODE_PRECONDITION_NOT_MET;
1539+
}
1540+
}
1541+
else
1542+
{
1543+
ret = RETCODE_BAD_PARAMETER;
1544+
}
1545+
}
1546+
return ret;
1547+
}
1548+
15201549
bool DataWriterImpl::deadline_timer_reschedule()
15211550
{
15221551
assert(qos_.deadline().period != dds::c_TimeInfinite);
@@ -1730,6 +1759,9 @@ ReturnCode_t DataWriterImpl::get_publication_builtin_topic_data(
17301759
publisher_->get_participant_impl()->fill_type_information(type_, publication_data.type_information);
17311760
publication_data.representation = qos_.representation();
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1762+
// RPC over DDS
1763+
publication_data.related_datareader_key = related_datareader_key_;
1764+
17331765
// eProsima extensions
17341766

17351767
publication_data.disable_positive_acks = qos_.reliable_writer_qos().disable_positive_acks;

‎src/cpp/fastdds/publisher/DataWriterImpl.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -432,6 +432,24 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
432432
ReturnCode_t set_sample_prefilter(
433433
std::shared_ptr<IContentFilter> prefilter);
434434

435+
/**
436+
* This operation sets the key of the DataReader that is related to this DataWriter.
437+
* This is used to establish a relationship between a DataReader and a DataWriter
438+
* in the context of RPC over DDS.
439+
*
440+
* @warning This operation is only valid if the entity is not enabled.
441+
*
442+
* @param [in] related_reader Pointer to the DataReader to set as related.
443+
*
444+
* @return RETCODE_OK if the key is set successfully.
445+
* @return RETCODE_ILLEGAL_OPERATION if this entity is enabled.
446+
* @return RETCODE_PRECONDITION_NOT_MET if the entity does not belong to the same participant.
447+
* @return RETCODE_BAD_PARAMETER if the provided GUID is unknown
448+
* or the pointer is not valid.
449+
*/
450+
ReturnCode_t set_related_datareader(
451+
const DataReader* related_reader);
452+
435453
protected:
436454

437455
using IChangePool = eprosima::fastdds::rtps::IChangePool;
@@ -555,6 +573,9 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
555573
mutable std::mutex filters_mtx_;
556574
std::shared_ptr<IContentFilter> sample_prefilter_;
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576+
//RPC over DDS
577+
rtps::GUID_t related_datareader_key_{rtps::c_Guid_Unknown};
578+
558579
ReturnCode_t check_write_preconditions(
559580
const void* const data,
560581
const InstanceHandle_t& handle,

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