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mergify[bot]MiguelCompanyJesusPoderoso
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Fix issues in Dynamic Network Interfaces (#5282) (#5304)
* Fix issues in Dynamic Network Interfaces (#5282) * Refs #21690. Parse `--rescan` argument on communication applications. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Implement rescan mechanism. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Add docker infrastructure. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Add CMake infrastructure. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Ensure same domain and topic name are used. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Add `--loops` argument to publisher. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Publisher exits after publishing all samples. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Improve subscriber script. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Add test. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Make publisher wait subscriber. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Possible fix. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Clear locators before recalculating them. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Move local participant proxy update to PDP. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Improve new method's logic. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Include what you use. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Add empty method to update endpoint locators. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Add implementation for `update_endpoint_locators_if_default_nts`. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Compare against old default locators. Signed-off-by: Miguel Company <[email protected]> * Refs #21690. Update locators in attributes. Signed-off-by: Miguel Company <[email protected]> * Refs #17283. Avoid early return on `PDP::local_participant_attributes_update_nts`. Signed-off-by: Miguel Company <[email protected]> * Refs #17283. Apply suggestions. Signed-off-by: Miguel Company <[email protected]> --------- Signed-off-by: Miguel Company <[email protected]> (cherry picked from commit 91bd7c8) * Refs #17283: Fix conflicts Signed-off-by: eProsima <[email protected]> * Refs #17283: Keep original PR functionality Signed-off-by: eProsima <[email protected]> * Refs #17283: Please uncrustify Signed-off-by: eProsima <[email protected]> * Restore discovery server list check code. Signed-off-by: Miguel Company <[email protected]> * Make backported methods static methods instead of inline code. Signed-off-by: Miguel Company <[email protected]> * Methods get_default_xxx_locators with output argument. Signed-off-by: Miguel Company <[email protected]> * Only update attributes when necessary. Signed-off-by: Miguel Company <[email protected]> --------- Signed-off-by: eProsima <[email protected]> Signed-off-by: Miguel Company <[email protected]> Co-authored-by: Miguel Company <[email protected]> Co-authored-by: eProsima <[email protected]>
1 parent 5ceebe0 commit 66ec998

21 files changed

+581
-112
lines changed

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

+5
Original file line numberDiff line numberDiff line change
@@ -22,9 +22,12 @@
2222
#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
2323

2424
#include <atomic>
25+
#include <cstdint>
2526
#include <functional>
2627
#include <memory>
2728
#include <mutex>
29+
#include <string>
30+
#include <vector>
2831

2932
#include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
3033
#include <fastdds/rtps/builtin/data/ReaderProxyData.h>
@@ -70,6 +73,7 @@ class RTPSWriter;
7073
class RTPSReader;
7174
class WriterHistory;
7275
class ReaderHistory;
76+
struct RTPSParticipantAllocationAttributes;
7377
class RTPSParticipantImpl;
7478
class RTPSParticipantListener;
7579
class BuiltinProtocols;
@@ -79,6 +83,7 @@ class ReaderProxyData;
7983
class WriterProxyData;
8084
class ParticipantProxyData;
8185
class ReaderListener;
86+
class PDPEndpoints;
8287
class PDPListener;
8388
class PDPServerListener;
8489
class ITopicPayloadPool;

‎src/cpp/rtps/participant/RTPSParticipantImpl.cpp

+197-61
Large diffs are not rendered by default.

‎src/cpp/rtps/participant/RTPSParticipantImpl.h

+6
Original file line numberDiff line numberDiff line change
@@ -783,11 +783,17 @@ class RTPSParticipantImpl
783783
*/
784784
void get_default_metatraffic_locators();
785785

786+
void get_default_metatraffic_locators(
787+
RTPSParticipantAttributes& att);
788+
786789
/**
787790
* Get default unicast locators when not provided by the user.
788791
*/
789792
void get_default_unicast_locators();
790793

794+
void get_default_unicast_locators(
795+
RTPSParticipantAttributes& att);
796+
791797
bool match_local_endpoints_ = true;
792798

793799
bool should_match_local_endpoints(

‎test/dds/communication/CMakeLists.txt

+4
Original file line numberDiff line numberDiff line change
@@ -314,3 +314,7 @@ if(Python3_Interpreter_FOUND)
314314
endif()
315315

316316
endif()
317+
318+
if(UNIX AND NOT(APPLE) AND NOT(QNXNTO) AND NOT(ANDROID))
319+
add_subdirectory(dyn_network)
320+
endif()

‎test/dds/communication/PubSubMain.cpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -52,7 +52,7 @@ void publisher_run(
5252
publisher->wait_discovery(wait);
5353
}
5454

55-
publisher->run(samples, loops, interval);
55+
publisher->run(samples, 0, loops, interval);
5656
}
5757

5858
int main(
@@ -197,7 +197,7 @@ int main(
197197
DomainParticipantFactory::get_instance()->load_XML_profiles_file(xml_file);
198198
}
199199

200-
SubscriberModule subscriber(publishers, samples, fixed_type, zero_copy);
200+
SubscriberModule subscriber(publishers, samples, fixed_type, zero_copy, false, false);
201201
PublisherModule publisher(exit_on_lost_liveliness, fixed_type, zero_copy);
202202

203203
uint32_t result = 1;
@@ -208,7 +208,7 @@ int main(
208208

209209
if (subscriber.init(seed, magic))
210210
{
211-
result = subscriber.run(notexit, timeout) ? 0 : -1;
211+
result = subscriber.run(notexit, 0, timeout) ? 0 : -1;
212212
}
213213

214214
publisher_thread.join();

‎test/dds/communication/PublisherMain.cpp

+26-2
Original file line numberDiff line numberDiff line change
@@ -29,9 +29,11 @@ using namespace eprosima::fastdds::dds;
2929
* --seed <int>
3030
* --wait <int>
3131
* --samples <int>
32+
* --loops <int>
33+
* --interval <int>
3234
* --magic <str>
3335
* --xmlfile <path>
34-
* --interval <int>
36+
* --rescan <int>
3537
*/
3638

3739
int main(
@@ -46,7 +48,9 @@ int main(
4648
uint32_t wait = 0;
4749
char* xml_file = nullptr;
4850
uint32_t samples = 4;
51+
uint32_t loops = 0;
4952
uint32_t interval = 250;
53+
uint32_t rescan_interval_seconds = 0;
5054
std::string magic;
5155

5256
while (arg_count < argc)
@@ -93,6 +97,16 @@ int main(
9397

9498
samples = strtol(argv[arg_count], nullptr, 10);
9599
}
100+
else if (strcmp(argv[arg_count], "--loops") == 0)
101+
{
102+
if (++arg_count >= argc)
103+
{
104+
std::cout << "--loops expects a parameter" << std::endl;
105+
return -1;
106+
}
107+
108+
loops = strtol(argv[arg_count], nullptr, 10);
109+
}
96110
else if (strcmp(argv[arg_count], "--interval") == 0)
97111
{
98112
if (++arg_count >= argc)
@@ -123,6 +137,16 @@ int main(
123137

124138
xml_file = argv[arg_count];
125139
}
140+
else if (strcmp(argv[arg_count], "--rescan") == 0)
141+
{
142+
if (++arg_count >= argc)
143+
{
144+
std::cout << "--rescan expects a parameter" << std::endl;
145+
return -1;
146+
}
147+
148+
rescan_interval_seconds = strtol(argv[arg_count], nullptr, 10);
149+
}
126150
else
127151
{
128152
std::cout << "Wrong argument " << argv[arg_count] << std::endl;
@@ -146,7 +170,7 @@ int main(
146170
publisher.wait_discovery(wait);
147171
}
148172

149-
publisher.run(samples, 0, interval);
173+
publisher.run(samples, rescan_interval_seconds, loops, interval);
150174
return 0;
151175
}
152176

‎test/dds/communication/PublisherModule.cpp

+20
Original file line numberDiff line numberDiff line change
@@ -134,13 +134,30 @@ void PublisherModule::wait_discovery(
134134

135135
void PublisherModule::run(
136136
uint32_t samples,
137+
const uint32_t rescan_interval,
137138
const uint32_t loops,
138139
uint32_t interval)
139140
{
140141
uint32_t current_loop = 0;
141142
uint16_t index = 1;
142143
void* sample = nullptr;
143144

145+
std::thread net_rescan_thread([this, rescan_interval]()
146+
{
147+
if (rescan_interval > 0)
148+
{
149+
auto interval = std::chrono::seconds(rescan_interval);
150+
while (run_)
151+
{
152+
std::this_thread::sleep_for(interval);
153+
if (run_)
154+
{
155+
participant_->set_qos(participant_->get_qos());
156+
}
157+
}
158+
}
159+
});
160+
144161
while (run_ && (loops == 0 || loops > current_loop))
145162
{
146163
if (zero_copy_)
@@ -187,6 +204,9 @@ void PublisherModule::run(
187204

188205
std::this_thread::sleep_for(std::chrono::milliseconds(interval));
189206
}
207+
208+
run_ = false;
209+
net_rescan_thread.join();
190210
}
191211

192212
void PublisherModule::on_publication_matched(

‎test/dds/communication/PublisherModule.hpp

+11-8
Original file line numberDiff line numberDiff line change
@@ -19,6 +19,11 @@
1919
#ifndef TEST_DDS_COMMUNICATION_PUBLISHERMODULE_HPP
2020
#define TEST_DDS_COMMUNICATION_PUBLISHERMODULE_HPP
2121

22+
#include <atomic>
23+
#include <chrono>
24+
#include <condition_variable>
25+
#include <mutex>
26+
2227
#include <fastdds/dds/domain/DomainParticipant.hpp>
2328
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
2429
#include <fastdds/dds/publisher/PublisherListener.hpp>
@@ -27,9 +32,6 @@
2732
#include "types/FixedSizedPubSubTypes.h"
2833
#include "types/HelloWorldPubSubTypes.h"
2934

30-
#include <mutex>
31-
#include <condition_variable>
32-
3335
namespace eprosima {
3436
namespace fastdds {
3537
namespace dds {
@@ -41,8 +43,8 @@ class PublisherModule
4143

4244
PublisherModule(
4345
bool exit_on_lost_liveliness,
44-
bool fixed_type = false,
45-
bool zero_copy = false)
46+
bool fixed_type,
47+
bool zero_copy)
4648
: exit_on_lost_liveliness_(exit_on_lost_liveliness)
4749
, fixed_type_(zero_copy || fixed_type) // If zero copy active, fixed type is required
4850
, zero_copy_(zero_copy)
@@ -80,8 +82,9 @@ class PublisherModule
8082

8183
void run(
8284
uint32_t samples,
83-
uint32_t loops = 0,
84-
uint32_t interval = 250);
85+
const uint32_t rescan_interval,
86+
uint32_t loops,
87+
uint32_t interval);
8588

8689
private:
8790

@@ -93,7 +96,7 @@ class PublisherModule
9396
bool exit_on_lost_liveliness_ = false;
9497
bool fixed_type_ = false;
9598
bool zero_copy_ = false;
96-
bool run_ = true;
99+
std::atomic_bool run_{true};
97100
DomainParticipant* participant_ = nullptr;
98101
TypeSupport type_;
99102
Publisher* publisher_ = nullptr;

‎test/dds/communication/SubscriberMain.cpp

+16-3
Original file line numberDiff line numberDiff line change
@@ -26,13 +26,15 @@ using namespace eprosima::fastdds::dds;
2626
* --notexit
2727
* --fixed_type
2828
* --zero_copy
29+
* --succeed_on_timeout
2930
* --seed <int>
3031
* --samples <int>
3132
* --magic <str>
33+
* --timeout <int>
3234
* --xmlfile <path>
3335
* --publishers <int>
34-
* --succeed_on_timeout
35-
* --timeout <int>
36+
* --die_on_data_received
37+
* --rescan <int>
3638
*/
3739

3840
int main(
@@ -49,6 +51,7 @@ int main(
4951
uint32_t samples = 4;
5052
uint32_t publishers = 1;
5153
uint32_t timeout = 86400000; // 24 h in ms
54+
uint32_t rescan_interval_seconds = 0;
5255
char* xml_file = nullptr;
5356
std::string magic;
5457

@@ -134,6 +137,16 @@ int main(
134137
{
135138
die_on_data_received = true;
136139
}
140+
else if (strcmp(argv[arg_count], "--rescan") == 0)
141+
{
142+
if (++arg_count >= argc)
143+
{
144+
std::cout << "--rescan expects a parameter" << std::endl;
145+
return -1;
146+
}
147+
148+
rescan_interval_seconds = strtol(argv[arg_count], nullptr, 10);
149+
}
137150
else
138151
{
139152
std::cout << "Wrong argument " << argv[arg_count] << std::endl;
@@ -152,7 +165,7 @@ int main(
152165

153166
if (subscriber.init(seed, magic))
154167
{
155-
return subscriber.run(notexit, timeout) ? 0 : -1;
168+
return subscriber.run(notexit, rescan_interval_seconds, timeout) ? 0 : -1;
156169
}
157170

158171
return -1;

‎test/dds/communication/SubscriberModule.cpp

+22-1
Original file line numberDiff line numberDiff line change
@@ -132,17 +132,35 @@ bool SubscriberModule::init(
132132

133133
bool SubscriberModule::run(
134134
bool notexit,
135+
const uint32_t rescan_interval,
135136
uint32_t timeout)
136137
{
137-
return run_for(notexit, std::chrono::milliseconds(timeout));
138+
return run_for(notexit, rescan_interval, std::chrono::milliseconds(timeout));
138139
}
139140

140141
bool SubscriberModule::run_for(
141142
bool notexit,
143+
const uint32_t rescan_interval,
142144
const std::chrono::milliseconds& timeout)
143145
{
144146
bool returned_value = false;
145147

148+
std::thread net_rescan_thread([this, rescan_interval]()
149+
{
150+
if (rescan_interval > 0)
151+
{
152+
auto interval = std::chrono::seconds(rescan_interval);
153+
while (run_)
154+
{
155+
std::this_thread::sleep_for(interval);
156+
if (run_)
157+
{
158+
participant_->set_qos(participant_->get_qos());
159+
}
160+
}
161+
}
162+
});
163+
146164
while (notexit && run_)
147165
{
148166
std::this_thread::sleep_for(std::chrono::milliseconds(250));
@@ -192,6 +210,9 @@ bool SubscriberModule::run_for(
192210
returned_value = false;
193211
}
194212

213+
run_ = false;
214+
net_rescan_thread.join();
215+
195216
return returned_value;
196217
}
197218

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