Refs #20629: Revision - major changes

Signed-off-by: cferreiragonz <[email protected]>

examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.cpp

@@ -186,9 +186,6 @@ bool DiscoveryServer::init(
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
             eprosima::fastrtps::rtps::DiscoveryProtocol_t::SERVER;
 
-    // Set SERVER's GUID prefix
-    set_server_client_random_guidPrefix(pqos.wire_protocol().prefix);
-
     // Set SERVER's listening locator for PDP
     pqos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(listening_locator);
 

include/fastdds/rtps/attributes/ServerAttributes.h

@@ -211,13 +211,6 @@ FASTDDS_EXPORTED_API bool get_server_client_default_guidPrefix(
         int id,
         fastrtps::rtps::GuidPrefix_t& guid);
 
-/**
- * Returns a random generated guidPrefix.
- * @param[out] guid reference to the guidPrefix to modify
- */
-FASTDDS_EXPORTED_API void set_server_client_random_guidPrefix(
-        fastrtps::rtps::GuidPrefix_t& guid);
-
 } // namespace rtps
 } // namespace fastdds
 
@@ -234,7 +227,6 @@ using fastdds::rtps::ROS_SUPER_CLIENT;
 using fastdds::rtps::load_environment_server_info;
 using fastdds::rtps::ros_discovery_server_env;
 using fastdds::rtps::get_server_client_default_guidPrefix;
-using fastdds::rtps::set_server_client_random_guidPrefix;
 using fastdds::rtps::ros_super_client_env;
 
 } // fastrtps

include/fastdds/rtps/common/LocatorSelectorEntry.hpp

@@ -126,16 +126,9 @@ struct LocatorSelectorEntry
     static LocatorSelectorEntry create_fully_selected_entry(
             const LocatorList_t& unicast_locators)
     {
-        // Create an entry with space for all locators
-        LocatorSelectorEntry entry(unicast_locators.size(), 0);
-        // Add and select unicast locators
-        for (const Locator_t& locator : unicast_locators)
-        {
-            entry.state.unicast.push_back(entry.unicast.size());
-            entry.unicast.push_back(locator);
-        }
-        // Return created entry
-        return entry;
+        // Use previous overload with an empty multicast list
+        LocatorList_t empty_list {};
+        return create_fully_selected_entry(unicast_locators, empty_list);
     }
 
     //! GUID of the remote entity.

src/cpp/rtps/RTPSDomain.cpp

@@ -55,6 +55,19 @@ namespace rtps {
 
 using BaseReader = fastdds::rtps::BaseReader;
 
+template<typename _Descriptor>
+bool has_user_transport(
+        const RTPSParticipantAttributes& att)
+{
+    const auto& transports = att.userTransports;
+    const auto end_it = transports.end();
+    return end_it != std::find_if(transports.begin(), end_it,
+                   [](const decltype(*end_it)& item)
+                   {
+                       return nullptr != dynamic_cast<_Descriptor*>(item.get());
+                   });
+}
+
 static void guid_prefix_create(
         uint32_t ID,
         GuidPrefix_t& guidP)
@@ -210,6 +223,11 @@ RTPSParticipant* RTPSDomainImpl::createParticipant(
     }
     else
     {
+        if (PParam.builtin.discovery_config.discoveryProtocol == DiscoveryProtocol_t::BACKUP)
+        {
+            EPROSIMA_LOG_ERROR(RTPS_PARTICIPANT, "Specifying a GUID prefix is mandatory for BACKUP Discovery Servers.");
+            return nullptr;
+        }
         pimpl = new RTPSParticipantImpl(domain_id, PParam, guidP, p, listen);
     }
 
@@ -563,86 +581,37 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
         return nullptr;
     }
 
-    // Check if some adress requires the UDPv6, TCPv4 or TCPv6 transport
-    if (server_list.has_kind<LOCATOR_KIND_UDPv6>())
+    // Check if some address requires the UDPv6, TCPv4 or TCPv6 transport
+    if (server_list.has_kind<LOCATOR_KIND_UDPv6>() &&
+            !has_user_transport<fastdds::rtps::UDPv6TransportDescriptor>(client_att))
     {
         // Extend builtin transports with the UDPv6 transport
         auto descriptor = std::make_shared<fastdds::rtps::UDPv6TransportDescriptor>();
         descriptor->sendBufferSize = client_att.sendSocketBufferSize;
         descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
         client_att.userTransports.push_back(std::move(descriptor));
     }
-    if (server_list.has_kind<LOCATOR_KIND_TCPv4>())
+    if (server_list.has_kind<LOCATOR_KIND_TCPv4>() &&
+            !has_user_transport<fastdds::rtps::TCPv4TransportDescriptor>(client_att))
     {
-        // Check if a TCPv4 transport exists. Otherwise create it
-        fastdds::rtps::TCPTransportDescriptor* pT = nullptr;
-        std::shared_ptr<fastdds::rtps::TCPv4TransportDescriptor> p4;
-        bool no_tcpv4 = true;
-
-        for (auto sp : client_att.userTransports)
-        {
-            pT = dynamic_cast<fastdds::rtps::TCPTransportDescriptor*>(sp.get());
-
-            if (pT != nullptr)
-            {
-                if (!p4)
-                {
-                    if ((p4 = std::dynamic_pointer_cast<fastdds::rtps::TCPv4TransportDescriptor>(sp)))
-                    {
-                        // TCPv4 transport already exists
-                        no_tcpv4 = false;
-                        break;
-                    }
-                }
-            }
-        }
-        if (no_tcpv4)
-        {
-            // Extend builtin transports with the TCPv4 transport
-            auto descriptor = std::make_shared<fastdds::rtps::TCPv4TransportDescriptor>();
-            // Add automatic port
-            descriptor->add_listener_port(0);
-            descriptor->sendBufferSize = client_att.sendSocketBufferSize;
-            descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
-            client_att.userTransports.push_back(std::move(descriptor));
-        }
-
+        // Extend builtin transports with the TCPv4 transport
+        auto descriptor = std::make_shared<fastdds::rtps::TCPv4TransportDescriptor>();
+        // Add automatic port
+        descriptor->add_listener_port(0);
+        descriptor->sendBufferSize = client_att.sendSocketBufferSize;
+        descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
+        client_att.userTransports.push_back(std::move(descriptor));
     }
-    if (server_list.has_kind<LOCATOR_KIND_TCPv6>())
+    if (server_list.has_kind<LOCATOR_KIND_TCPv6>() &&
+            !has_user_transport<fastdds::rtps::TCPv6TransportDescriptor>(client_att))
     {
-        // Check if a TCPv6 transport exists. Otherwise create it
-        fastdds::rtps::TCPTransportDescriptor* pT = nullptr;
-        std::shared_ptr<fastdds::rtps::TCPv6TransportDescriptor> p6;
-        bool no_tcpv6 = true;
-
-        for (auto sp : client_att.userTransports)
-        {
-            pT = dynamic_cast<fastdds::rtps::TCPTransportDescriptor*>(sp.get());
-
-            if (pT != nullptr)
-            {
-                if (!p6)
-                {
-                    // try to find a descriptor matching the listener port setup
-                    if ((p6 = std::dynamic_pointer_cast<fastdds::rtps::TCPv6TransportDescriptor>(sp)))
-                    {
-                        // TCPv6 transport already exists
-                        no_tcpv6 = false;
-                        break;
-                    }
-                }
-            }
-        }
-        if (no_tcpv6)
-        {
-            // Extend builtin transports with the TCPv6 transport
-            auto descriptor = std::make_shared<fastdds::rtps::TCPv6TransportDescriptor>();
-            // Add automatic port
-            descriptor->add_listener_port(0);
-            descriptor->sendBufferSize = client_att.sendSocketBufferSize;
-            descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
-            client_att.userTransports.push_back(std::move(descriptor));
-        }
+        // Extend builtin transports with the TCPv6 transport
+        auto descriptor = std::make_shared<fastdds::rtps::TCPv6TransportDescriptor>();
+        // Add automatic port
+        descriptor->add_listener_port(0);
+        descriptor->sendBufferSize = client_att.sendSocketBufferSize;
+        descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
+        client_att.userTransports.push_back(std::move(descriptor));
     }
 
     EPROSIMA_LOG_INFO(DOMAIN, "Detected auto client-server environment variable."

src/cpp/rtps/builtin/discovery/database/DiscoveryDataBase.cpp

@@ -37,7 +37,7 @@ namespace rtps {
 namespace ddb {
 
 DiscoveryDataBase::DiscoveryDataBase(
-        fastrtps::rtps::GuidPrefix_t server_guid_prefix)
+        const fastrtps::rtps::GuidPrefix_t& server_guid_prefix)
     : server_guid_prefix_(server_guid_prefix)
     , server_acked_by_all_(true)
     , enabled_(true)
@@ -65,21 +65,16 @@ void DiscoveryDataBase::add_server(
 {
     std::lock_guard<std::recursive_mutex> guard(mutex_);
     EPROSIMA_LOG_INFO(DISCOVERY_DATABASE, "Server " << server << " added");
-    if (std::find(servers_.begin(), servers_.end(), server) == servers_.end())
-    {
-        servers_.push_back(server);
-    }
+    servers_.insert(server);
 }
 
 void DiscoveryDataBase::remove_server(
         fastrtps::rtps::GuidPrefix_t server)
 {
     std::lock_guard<std::recursive_mutex> guard(mutex_);
-    auto remove_it = std::find(servers_.begin(), servers_.end(), server);
-    if (remove_it != servers_.end())
+    if (servers_.erase(server) == 1)
     {
         EPROSIMA_LOG_INFO(DISCOVERY_DATABASE, "Removing server " << server);
-        servers_.erase(remove_it);
     }
     else
     {

src/cpp/rtps/builtin/discovery/database/DiscoveryDataBase.hpp

@@ -117,7 +117,7 @@ class DiscoveryDataBase
     friend class AckedFunctor;
 
     DiscoveryDataBase(
-            fastrtps::rtps::GuidPrefix_t server_guid_prefix);
+            const fastrtps::rtps::GuidPrefix_t& server_guid_prefix);
 
     ~DiscoveryDataBase();
 
@@ -571,7 +571,7 @@ class DiscoveryDataBase
     std::atomic<bool> server_acked_by_all_;
 
     //! List of GUID prefixes of the connected remote servers
-    std::vector<fastrtps::rtps::GuidPrefix_t> servers_;
+    std::set<fastrtps::rtps::GuidPrefix_t> servers_;
 
     // The virtual topic associated with virtual writers and readers
     const std::string virtual_topic_ = "eprosima_server_virtual_topic";

src/cpp/rtps/builtin/discovery/participant/PDP.cpp

@@ -1508,9 +1508,10 @@ void PDP::resend_ininitial_announcements()
 {
     if (enabled_)
     {
-        this->mp_mutex->lock();
-        initial_announcements_ = m_discovery.discovery_config.initial_announcements;
-        this->mp_mutex->unlock();
+        {
+            std::lock_guard<std::recursive_mutex> guardPDP(*mp_mutex);
+            initial_announcements_ = m_discovery.discovery_config.initial_announcements;
+        }
         set_next_announcement_interval();
         resetParticipantAnnouncement();
     }

src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp

@@ -1376,20 +1376,6 @@ bool get_server_client_default_guidPrefix(
     return false;
 }
 
-void set_server_client_random_guidPrefix(
-        GuidPrefix_t& guid)
-{
-    // Random GUIDs keeps 4 first bytes from the default server GUID
-    eprosima::fastdds::rtps::GuidUtils::instance().guid_prefix_create(0, guid);
-
-    auto now = std::chrono::high_resolution_clock::now();
-    srand(static_cast<uint32_t>(now.time_since_epoch().count()));
-    for (auto i = 4; i < 12; i++)
-    {
-        guid.value[i] = eprosima::fastrtps::rtps::octet(rand() % 254);
-    }
-}
-
 bool PDPClient::remove_remote_participant(
         const GUID_t& partGUID,
         ParticipantDiscoveryInfo::DISCOVERY_STATUS reason)

src/cpp/rtps/builtin/discovery/participant/PDPClient.h

@@ -158,7 +158,7 @@ class PDPClient : public PDP
      * Get the list of remote servers to which the client is already connected.
      * @return A reference to the list of RemoteServerAttributes
      */
-    const std::list<eprosima::fastdds::rtps::RemoteServerAttributes>& connected_servers();
+    const fastdds::rtps::RemoteServerList_t& connected_servers();
 
 protected:
 

src/cpp/rtps/builtin/discovery/participant/PDPServerListener.cpp

@@ -370,7 +370,7 @@ void PDPServerListener::on_new_cache_change_added(
 }
 
 std::pair<bool, bool> PDPServerListener::check_server_discovery_conditions(
-        ParticipantProxyData& participant_data,
+        const ParticipantProxyData& participant_data,
         std::string& participant_type_str)
 {
     // is_valid, is_client

src/cpp/rtps/builtin/discovery/participant/PDPServerListener.hpp

@@ -71,7 +71,7 @@ class PDPServerListener : public fastrtps::rtps::PDPListener
      * The second one indicates if the remote participant data is a client.
      */
     std::pair<bool, bool> check_server_discovery_conditions(
-            fastrtps::rtps::ParticipantProxyData& participant_data,
+            const fastrtps::rtps::ParticipantProxyData& participant_data,
             std::string& participant_type_str);
 };
 

test/blackbox/common/DDSBlackboxTestsDiscovery.cpp

@@ -202,8 +202,7 @@ TEST(DDSDiscovery, AddDiscoveryServerToListTCP)
     descriptor_1->add_listener_port(server_1_port);
 
     // Init server
-    ASSERT_TRUE(server_1.fill_server_qos(server_1_qos, locator_server_1, server_1_port,
-            LOCATOR_KIND_TCPv4)
+    ASSERT_TRUE(server_1.fill_server_qos(server_1_qos, locator_server_1, server_1_port, LOCATOR_KIND_TCPv4)
                     .disable_builtin_transport()
                     .add_user_transport_to_pparams(descriptor_1)
                     .init_participant());
@@ -219,8 +218,7 @@ TEST(DDSDiscovery, AddDiscoveryServerToListTCP)
     descriptor_2->add_listener_port(server_2_port);
 
     // Init server
-    ASSERT_TRUE(server_2.fill_server_qos(server_2_qos, locator_server_2, server_2_port,
-            LOCATOR_KIND_TCPv4)
+    ASSERT_TRUE(server_2.fill_server_qos(server_2_qos, locator_server_2, server_2_port, LOCATOR_KIND_TCPv4)
                     .disable_builtin_transport()
                     .add_user_transport_to_pparams(descriptor_2)
                     .init_participant());
@@ -302,8 +300,7 @@ TEST(DDSDiscovery, ServersConnectionTCP)
     auto descriptor_1 = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
     descriptor_1->add_listener_port(server_1_port);
     // Init server
-    ASSERT_TRUE(server_1.fill_server_qos(server_1_qos, locator_server_1, server_1_port,
-            LOCATOR_KIND_TCPv4)
+    ASSERT_TRUE(server_1.fill_server_qos(server_1_qos, locator_server_1, server_1_port, LOCATOR_KIND_TCPv4)
                     .disable_builtin_transport()
                     .add_user_transport_to_pparams(descriptor_1)
                     .init_participant());
@@ -322,8 +319,7 @@ TEST(DDSDiscovery, ServersConnectionTCP)
     server_2_qos.builtin.discovery_config.m_DiscoveryServers.push_back(locator_server_1);
 
     // Init server
-    ASSERT_TRUE(server_2.fill_server_qos(server_2_qos, locator_server_2, server_2_port,
-            LOCATOR_KIND_TCPv4)
+    ASSERT_TRUE(server_2.fill_server_qos(server_2_qos, locator_server_2, server_2_port, LOCATOR_KIND_TCPv4)
                     .disable_builtin_transport()
                     .add_user_transport_to_pparams(descriptor_2)
                     .init_participant());
@@ -341,8 +337,7 @@ TEST(DDSDiscovery, ServersConnectionTCP)
     server_3_qos.builtin.discovery_config.m_DiscoveryServers.push_back(locator_server_1);
 
     // Init server
-    ASSERT_TRUE(server_3.fill_server_qos(server_3_qos, locator_server_3, server_3_port,
-            LOCATOR_KIND_TCPv4)
+    ASSERT_TRUE(server_3.fill_server_qos(server_3_qos, locator_server_3, server_3_port, LOCATOR_KIND_TCPv4)
                     .disable_builtin_transport()
                     .add_user_transport_to_pparams(descriptor_3)
                     .init_participant());