Interoperability with RTI Connext DDS is broken, beginning with version 2.0.2. The Reliability and Durability QoS incorrectly detected for remote writers.

[DimaRU]

Interoperability with RTI Connext DDS is broken, beginning with version 2.0.2.
The Reliability and Durability of QoS incorrectly detected for remote writers.
As a result, some data is not received.

The remote system runs under RTI Connext DDS. There were no problems with version 2.0.1.

Backtrace showed that the incorrect behavior was introduced by the following commit: #1384

##Expected Behavior

------ Fast-DDS Version: 2.0.1
["172.16.1.26": (uuid: "fe39129", interface: "en0", isWiFi: false)] ["en0": "172.16.1.2", "lo0": "127.0.0.1"]
Local address en0:172.16.1.2
Discovered Participant: geoserve 172.16.1.26:7417
Discovered Participant: trident-control 172.16.1.26:7415
Discovered Participant: trident-update 172.16.1.26:7411
Discovered Participant: trident-core 172.16.1.26:7413
Discovered Participant: trident-record 172.16.1.26:7421
Discovered Participant: trident-remote-control 172.16.1.26:7419
Writer: rov_cams - Reliable
Writer: rov_cam_fwd - Reliable
Writer: rov_cam_fwd_H264_0_ctrl_desc - Reliable
Writer: rov_video_overlay_mode_current - Reliable
Writer: rov_cam_fwd_H264_0_ctrl_current - Reliable
Writer: rov_cam_fwd_H264_1_ctrl_desc - Reliable
Writer: rov_cam_fwd_H264_1_ctrl_current - Reliable
Writer: rov_cam_fwd_H264_0_video - Reliable
Writer: rov_cam_fwd_H264_1_video - Reliable
Writer: rov_firmware_command_rep - Reliable
Writer: rov_firmware_service_status - Reliable
Writer: rov_firmware_status - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_safety - Reliable
Writer: pid_setpoint_current - Reliable
Writer: pid_state - Reliable
Writer: trident_command_target - Reliable
Writer: trident_esc_config_target - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_controller_state_current - Reliable
Writer: rov_beacon - Reliable
Writer: rov_ping_reply - Reliable
Writer: rov_pressure_internal - Reliable
Writer: trident_esc_config_request - Reliable
Writer: rov_temp_internal - Reliable
Writer: rov_depth - Reliable
Writer: rov_temp_water - Reliable
Writer: rov_attitude - Reliable
Writer: rov_attitude_euler - Reliable
Writer: rov_imu_calibration - Reliable
Writer: rov_light_power_current - Reliable
Writer: rov_fuelgauge_status - Reliable
Writer: rov_fuelgauge_health - Reliable
Writer: rov_mcu_status - Reliable
Writer: rov_subsystem_status - Reliable
Writer: rov_mcu_watchdog_status - Reliable
Writer: rov_mcu_comm_stats - Reliable
Writer: rov_mcu_i2c_stats - Reliable
Writer: rov_esc_feedback - Reliable
Writer: rov_esc_fault_alert - Reliable
Writer: rov_esc_fault_warning_info - Reliable
Writer: rov_recording_stats - Reliable
Writer: rov_vid_session_rep - Reliable
Writer: rov_vid_session_current - Reliable
Writer: rov_state_signal - Best_effort
Writer: asv_command_sequence - Reliable
Writer: rov_mode_signal - Best_effort
Writer: rov_vid_session_req - Reliable
Writer: rov_vactest_blink_command - Reliable
Writer: rov_light_power_requested - Reliable
Writer: rov_motor_command_debug - Reliable
Writer: rov_control_target - Reliable

Message topic `rov_cam_fwd_H264_0_ctrl_current`
RovControlDescriptor(id: 134217729, idString: "brightness", type: 1, name: "Brightness", unit: "n/a", minimum: -255, maximum: 255, step: 1, defaultValueNumeric: 0, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134217730, idString: "contrast", type: 5, name: "Contrast", unit: "n/a", minimum: 0, maximum: 200, step: 1, defaultValueNumeric: 100, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134217732, idString: "hue", type: 1, name: "Hue", unit: "n/a", minimum: -18000, maximum: 18000, step: 1, defaultValueNumeric: 0, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134217733, idString: "gamma", type: 5, name: "Gamma", unit: "n/a", minimum: 0, maximum: 300, step: 1, defaultValueNumeric: 0, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134217731, idString: "saturation", type: 5, name: "Saturation", unit: "n/a", minimum: 0, maximum: 200, step: 1, defaultValueNumeric: 100, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134217736, idString: "gain", type: 5, name: "Gain", unit: "n/a", minimum: 1, maximum: 100, step: 1, defaultValueNumeric: 1, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134217735, idString: "sharpness", type: 5, name: "Sharpness", unit: "n/a", minimum: 1, maximum: 100, step: 1, defaultValueNumeric: 1, defaultValueString: "", flags: 32, menuOptions: [])
RovControlDescriptor(id: 134218028, idString: "bitrate", type: 6, name: "Bitrate", unit: "bits/s", minimum: 1000, maximum: 10000000, step: 1, defaultValueNumeric: 1500000, defaultValueString: "", flags: 32, menuOptions: [])

##Current Behavior

------ Fast-DDS Version: 2.1.0
["172.16.1.26": (uuid: "fe39129", interface: "en0", isWiFi: false)] ["lo0": "127.0.0.1", "en0": "172.16.1.2"]
Local address en0:172.16.1.2
Discovered Participant: trident-core 172.16.1.26:7413
Discovered Participant: trident-control 172.16.1.26:7415
Discovered Participant: geoserve 172.16.1.26:7417
Discovered Participant: trident-update 172.16.1.26:7411
Discovered Participant: trident-record 172.16.1.26:7421
Discovered Participant: trident-remote-control 172.16.1.26:7419
Writer: rov_controller_state_current - Best_effort
Writer: rov_safety - Best_effort
Writer: pid_setpoint_current - Best_effort
Writer: pid_state - Best_effort
Writer: trident_command_target - Best_effort
Writer: trident_esc_config_target - Best_effort
Writer: rov_controller_state_current - Best_effort
Writer: rov_controller_state_current - Best_effort
Writer: rov_controller_state_current - Best_effort
Writer: rov_controller_state_current - Best_effort
Writer: rov_controller_state_current - Best_effort
Writer: rov_controller_state_current - Best_effort
Writer: rov_beacon - Best_effort
Writer: rov_ping_reply - Best_effort
Writer: rov_pressure_internal - Best_effort
Writer: trident_esc_config_request - Best_effort
Writer: rov_temp_internal - Best_effort
Writer: rov_depth - Best_effort
Writer: rov_temp_water - Best_effort
Writer: rov_attitude - Best_effort
Writer: rov_attitude_euler - Best_effort
Writer: rov_imu_calibration - Best_effort
Writer: rov_light_power_current - Best_effort
Writer: rov_fuelgauge_status - Best_effort
Writer: rov_fuelgauge_health - Best_effort
Writer: rov_mcu_status - Best_effort
Writer: rov_subsystem_status - Best_effort
Writer: rov_mcu_watchdog_status - Best_effort
Writer: rov_mcu_comm_stats - Best_effort
Writer: rov_mcu_i2c_stats - Best_effort
Writer: rov_esc_feedback - Best_effort
Writer: rov_esc_fault_alert - Best_effort
Writer: rov_esc_fault_warning_info - Best_effort
Writer: rov_cams - Best_effort
Writer: rov_cam_fwd - Best_effort
Writer: rov_cam_fwd_H264_0_ctrl_desc - Best_effort
2020-11-24 19:48:35.779 [RTPS_EDP Warning] INCOMPATIBLE QOS (topic: rov_cam_fwd_H264_0_ctrl_desc): Remote Writer ac.10.1.1a.0.0.0.5f.0.0.0.1|80.0.42.2 is Best Effort and local reader is RELIABLE  (/Users/dmitry/Developer/OpenROV-Trident/TestTridentIO/FastRTPSBridge/Fast-DDS/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp:879) -> Function valid_matching
Writer: rov_video_overlay_mode_current - Best_effort
Writer: rov_cam_fwd_H264_0_ctrl_current - Best_effort
Writer: rov_cam_fwd_H264_1_ctrl_desc - Best_effort
Writer: rov_cam_fwd_H264_1_ctrl_current - Best_effort
Writer: rov_cam_fwd_H264_0_video - Reliable
Writer: rov_cam_fwd_H264_1_video - Reliable
Writer: rov_firmware_command_rep - Best_effort
Writer: rov_firmware_service_status - Best_effort
Writer: rov_firmware_status - Best_effort
Writer: rov_recording_stats - Best_effort
Writer: rov_vid_session_rep - Best_effort
Writer: rov_vid_session_current - Best_effort
Writer: rov_state_signal - Best_effort
Writer: asv_command_sequence - Best_effort
Writer: rov_mode_signal - Best_effort
Writer: rov_vid_session_req - Best_effort
Writer: rov_vactest_blink_command - Best_effort
Writer: rov_light_power_requested - Best_effort
Writer: rov_motor_command_debug - Best_effort
Writer: rov_control_target - Best_effort

No message for topic rov_cam_fwd_H264_0_ctrl_desc received.

##Steps to Reproduce
Unfortunately, I can't provide the steps for playback. Writer part is closed-source. Reader part source code is attached.

Part of code:

class BridgedParticipantListener: public eprosima::fastrtps::rtps::RTPSParticipantListener
{
    void onParticipantDiscovery(RTPSParticipant *participant, ParticipantDiscoveryInfo &&info) override;
    void onWriterDiscovery(RTPSParticipant *participant, WriterDiscoveryInfo &&info) override;
};

void BridgedParticipantListener::onWriterDiscovery(RTPSParticipant *participant, WriterDiscoveryInfo &&info)
{
    (void)participant;
    auto topicName = info.info.topicName();
    auto typeName = info.info.typeName();

    switch(info.status) {
        case WriterDiscoveryInfo::DISCOVERED_WRITER:
            std::cout << "Writer: " << topicName << " - " << (info.info.m_qos.m_reliability.kind == RELIABLE_RELIABILITY_QOS ? "Reliable\n":"Best_effort\n");
            break;
        case WriterDiscoveryInfo::CHANGED_QOS_WRITER:
            break;
        case WriterDiscoveryInfo::REMOVED_WRITER:
            break;
    }
}

##System information

• Fast-RTPS version: tag: v2.1.0
• OS: macOS Bug Sur 11.0.1

##Additional resources

• Wireshark capture
  2.1.0-reliability.pcapng.zip

[spiderkeys]

I can provide some insight into the writer side, as I wrote most of the Trident vehicle software when I was at OpenROV.

RTI Connext Pro version: 6.0.0

There wasn't anything special about the writer code, just a standard KeepLastReliable.TransientLocal policy:
https://gitlab.com/openrov/trident/orovmsg/-/blob/master/res/qos/v1/openrov.xml#L337

However there are some customizations to the ReliabilityProtocol policies in the base KeepLastReliable profile:
https://gitlab.com/openrov/trident/orovmsg/-/blob/master/res/qos/v1/openrov.xml#L233

The way the control descriptor topics worked for a given camera is that the camera class had a datawriter for the ControlDescriptor topic that would immediately publish all available settings the camera had available with KeepLastReliable.TransientLocal QOS such that late joiners could discover camera capabilities upon discovery.

Let me know if you have any additional questions and I might be able to help.

[MiguelCompany]

I confirm that #1384 may have introduced this regression. This should be fixed by #1624.

Please confirm on your side.

[ghostravenstorm]

I seem to have run into this issue too I think. Something with remote reader using non-addressable locator.

I have FastDDS built in the black, and RTI built in the blue. Both built with the same IDL.

[DimaRU]

I confirm that #1384 may have introduced this regression. This should be fixed by #1624.

Please confirm on your side.

I can confirm that with #1624, both Reliability and Durability QoS are detected correctly.
Thanks for the fast fix!