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| 1 | +// Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima). |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +/** |
| 16 | + * @file PDPStatelessWriter.cpp |
| 17 | + */ |
| 18 | + |
| 19 | +#include <rtps/builtin/discovery/participant/simple/PDPStatelessWriter.hpp> |
| 20 | + |
| 21 | +#include <algorithm> |
| 22 | +#include <cassert> |
| 23 | +#include <chrono> |
| 24 | +#include <cstdint> |
| 25 | +#include <mutex> |
| 26 | +#include <set> |
| 27 | +#include <vector> |
| 28 | + |
| 29 | +#include <fastdds/rtps/common/LocatorList.hpp> |
| 30 | +#include <fastdds/rtps/history/WriterHistory.hpp> |
| 31 | +#include <fastdds/rtps/transport/NetworkBuffer.hpp> |
| 32 | +#include <fastdds/utils/collections/ResourceLimitedVector.hpp> |
| 33 | +#include <fastdds/utils/TimedMutex.hpp> |
| 34 | + |
| 35 | +#include <rtps/builtin/data/ReaderProxyData.hpp> |
| 36 | +#include <rtps/participant/RTPSParticipantImpl.hpp> |
| 37 | +#include <rtps/writer/StatelessWriter.hpp> |
| 38 | + |
| 39 | +namespace eprosima { |
| 40 | +namespace fastdds { |
| 41 | +namespace rtps { |
| 42 | + |
| 43 | +PDPStatelessWriter::PDPStatelessWriter( |
| 44 | + RTPSParticipantImpl* participant, |
| 45 | + const GUID_t& guid, |
| 46 | + const WriterAttributes& attributes, |
| 47 | + FlowController* flow_controller, |
| 48 | + WriterHistory* history, |
| 49 | + WriterListener* listener) |
| 50 | + : StatelessWriter(participant, guid, attributes, flow_controller, history, listener) |
| 51 | + , interested_readers_(participant->get_attributes().allocation.participants) |
| 52 | +{ |
| 53 | +} |
| 54 | + |
| 55 | +bool PDPStatelessWriter::matched_reader_add_edp( |
| 56 | + const ReaderProxyData& data) |
| 57 | +{ |
| 58 | + bool ret = StatelessWriter::matched_reader_add_edp(data); |
| 59 | + if (ret) |
| 60 | + { |
| 61 | + // Mark new reader as interested |
| 62 | + add_interested_reader(data.guid()); |
| 63 | + // Send announcement to new reader |
| 64 | + reschedule_all_samples(); |
| 65 | + } |
| 66 | + return ret; |
| 67 | +} |
| 68 | + |
| 69 | +bool PDPStatelessWriter::matched_reader_remove( |
| 70 | + const GUID_t& reader_guid) |
| 71 | +{ |
| 72 | + bool ret = StatelessWriter::matched_reader_remove(reader_guid); |
| 73 | + if (ret) |
| 74 | + { |
| 75 | + // Mark reader as not interested |
| 76 | + remove_interested_reader(reader_guid); |
| 77 | + } |
| 78 | + return ret; |
| 79 | +} |
| 80 | + |
| 81 | +void PDPStatelessWriter::unsent_change_added_to_history( |
| 82 | + CacheChange_t* change, |
| 83 | + const std::chrono::time_point<std::chrono::steady_clock>& max_blocking_time) |
| 84 | +{ |
| 85 | + mark_all_readers_interested(); |
| 86 | + StatelessWriter::unsent_change_added_to_history(change, max_blocking_time); |
| 87 | +} |
| 88 | + |
| 89 | +void PDPStatelessWriter::set_initial_peers( |
| 90 | + const LocatorList& locator_list) |
| 91 | +{ |
| 92 | + std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); |
| 93 | + |
| 94 | + initial_peers_.push_back(locator_list); |
| 95 | + mp_RTPSParticipant->createSenderResources(initial_peers_); |
| 96 | +} |
| 97 | + |
| 98 | +void PDPStatelessWriter::send_periodic_announcement() |
| 99 | +{ |
| 100 | + mark_all_readers_interested(); |
| 101 | + reschedule_all_samples(); |
| 102 | +} |
| 103 | + |
| 104 | +bool PDPStatelessWriter::send_to_fixed_locators( |
| 105 | + const std::vector<eprosima::fastdds::rtps::NetworkBuffer>& buffers, |
| 106 | + const uint32_t& total_bytes, |
| 107 | + std::chrono::steady_clock::time_point& max_blocking_time_point) const |
| 108 | +{ |
| 109 | + bool ret = true; |
| 110 | + |
| 111 | + if (should_reach_all_destinations_) |
| 112 | + { |
| 113 | + ret = initial_peers_.empty() || |
| 114 | + mp_RTPSParticipant->sendSync(buffers, total_bytes, m_guid, |
| 115 | + Locators(initial_peers_.begin()), Locators(initial_peers_.end()), |
| 116 | + max_blocking_time_point); |
| 117 | + |
| 118 | + if (ret) |
| 119 | + { |
| 120 | + fixed_locators_.clear(); |
| 121 | + should_reach_all_destinations_ = false; |
| 122 | + } |
| 123 | + } |
| 124 | + else |
| 125 | + { |
| 126 | + interested_readers_.clear(); |
| 127 | + } |
| 128 | + |
| 129 | + return ret; |
| 130 | +} |
| 131 | + |
| 132 | +bool PDPStatelessWriter::is_relevant( |
| 133 | + const fastdds::rtps::CacheChange_t& /* change */, |
| 134 | + const fastdds::rtps::GUID_t& reader_guid) const |
| 135 | +{ |
| 136 | + return interested_readers_.end() != |
| 137 | + std::find(interested_readers_.begin(), interested_readers_.end(), reader_guid); |
| 138 | +} |
| 139 | + |
| 140 | +void PDPStatelessWriter::mark_all_readers_interested() |
| 141 | +{ |
| 142 | + std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); |
| 143 | + should_reach_all_destinations_ = true; |
| 144 | + interested_readers_.clear(); |
| 145 | + fixed_locators_.clear(); |
| 146 | + fixed_locators_.push_back(initial_peers_); |
| 147 | + reader_data_filter(nullptr); |
| 148 | +} |
| 149 | + |
| 150 | +void PDPStatelessWriter::add_interested_reader( |
| 151 | + const GUID_t& reader_guid) |
| 152 | +{ |
| 153 | + std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); |
| 154 | + if (!should_reach_all_destinations_) |
| 155 | + { |
| 156 | + auto it = std::find(interested_readers_.begin(), interested_readers_.end(), reader_guid); |
| 157 | + if (it == interested_readers_.end()) |
| 158 | + { |
| 159 | + interested_readers_.emplace_back(reader_guid); |
| 160 | + reader_data_filter(this); |
| 161 | + } |
| 162 | + } |
| 163 | +} |
| 164 | + |
| 165 | +void PDPStatelessWriter::remove_interested_reader( |
| 166 | + const GUID_t& reader_guid) |
| 167 | +{ |
| 168 | + std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); |
| 169 | + interested_readers_.remove(reader_guid); |
| 170 | +} |
| 171 | + |
| 172 | +void PDPStatelessWriter::reschedule_all_samples() |
| 173 | +{ |
| 174 | + std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); |
| 175 | + size_t n_samples = history_->getHistorySize(); |
| 176 | + if (0 < n_samples) |
| 177 | + { |
| 178 | + assert(1 == n_samples); |
| 179 | + auto it = history_->changesBegin(); |
| 180 | + CacheChange_t* change = *it; |
| 181 | + flow_controller_->add_new_sample(this, change, std::chrono::steady_clock::now() + std::chrono::hours(24)); |
| 182 | + } |
| 183 | +} |
| 184 | + |
| 185 | +} // namespace rtps |
| 186 | +} // namespace fastdds |
| 187 | +} // namespace eprosima |
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