[19942] Make remove unused entities compatible with the discovery trigger #83

Tempate · 2024-01-17T07:44:56Z

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codecov-commenter · 2024-01-17T07:53:19Z

Codecov Report

Attention: Patch coverage is 46.42857% with 60 lines in your changes are missing coverage. Please review.

Project coverage is 34.12%. Comparing base (8c96a74) to head (4428faa).

Files	Patch %	Lines
...spipe_core/src/cpp/communication/dds/DdsBridge.cpp	31.34%	36 Missing and 10 partials ⚠️
...core/src/cpp/configuration/RoutesConfiguration.cpp	70.96%	3 Missing and 6 partials ⚠️
ddspipe_core/src/cpp/core/DdsPipe.cpp	62.50%	2 Missing and 1 partial ⚠️
ddspipe_core/src/cpp/communication/dds/Track.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #83      +/-   ##
==========================================
+ Coverage   34.10%   34.12%   +0.01%     
==========================================
  Files         154      155       +1     
  Lines        7861     7881      +20     
  Branches     3515     3518       +3     
==========================================
+ Hits         2681     2689       +8     
- Misses       3267     3287      +20     
+ Partials     1913     1905       -8

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ddspipe_core/src/cpp/configuration/RoutesConfiguration.cpp

ddspipe_core/include/ddspipe_core/configuration/RoutesConfiguration.hpp

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp

ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

juanlofer-eprosima · 2024-07-15T07:22:09Z

ddspipe_core/src/cpp/communication/dds/Track.cpp

-        {
-            writer_it.second->disable();
-        }
+        // Don't disable writers, as they may be used by other tracks


Although I agree this might make more sense, note that I believe this would imply a delayed abortion when stopping the pipe or blocking a topic (would keep looping through writers map until done). Also, I don't like the fact that this would make enable-disable asymmetrical.

Not disabling the writers wasn't an aesthetic choice. If you disable the writers there are many scenarios that don't work or segfault with discovery-trigger and remove-unused-entities. If you propose another solution I may consider it.

My comment was wrong, not disabling writers has no effect in how soon Track::transmit_ is aborted. After thinking about it, I prefer to leave it as it is: having "atomic" write operations for every taken data.

However, I still don't like the asymmetry. I propose:

Leave it as it is but with a nice comment for future developers to consider.

Do not enable writers in tracks' enable, create them always enabled and never disable, or handle enable/disable somewhere else (in DdsBridge for example, as long as we decide to keep the writers_ attribute).

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

ddspipe_core/src/cpp/core/DdsPipe.cpp

juanlofer-eprosima · 2024-07-16T06:59:52Z

ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp

    std::map<types::ParticipantId, std::unique_ptr<Track>> tracks_;

+    //! The writers of the bridge index by their participant_id.
+    std::map<types::ParticipantId, std::shared_ptr<IWriter>> writers_;


Design comment: up to now bridges contain tracks, and tracks the only ones holding reference to endpoints. Analyze implications (such as object lifespan) and try to maintain this principle if makes sense.

juanlofer-eprosima · 2024-07-16T07:03:40Z

ddspipe_core/src/cpp/core/DdsPipe.cpp

        }
    }
    else if (configuration_.remove_unused_entities && topic->topic_discoverer() != DEFAULT_PARTICIPANT_ID)
    {
-        // The bridge already exists. Create a writer in the participant who discovered it.
-        it_bridge->second->create_writer(topic->topic_discoverer());
+        it_bridge->second->create_endpoint(topic->topic_discoverer(), endpoint_kind);


Design comment: call to endpoint creation method is done both from pipe and bridge. Analyze if it would be possible to further isolate their functionality so it's only done from one of them.

Related: scope of remove_unused_endpoint (used both in pipe and bridge).

juanlofer-eprosima · 2024-07-16T07:50:01Z

ddspipe_core/src/cpp/core/DdsPipe.cpp

Piggyback: please add a comment explaining that comparison with DEFAULT_PARTICIPANT_ID is used to determine whether topics are builtin.

juanlofer-eprosima · 2024-07-16T07:54:22Z

ddspipe_core/src/cpp/communication/dds/Track.cpp

-        {
-            writer_it.second->disable();
-        }
+        // Don't disable writers, as they may be used by other tracks


My comment was wrong, not disabling writers has no effect in how soon Track::transmit_ is aborted. After thinking about it, I prefer to leave it as it is: having "atomic" write operations for every taken data.

However, I still don't like the asymmetry. I propose:

Leave it as it is but with a nice comment for future developers to consider.

Do not enable writers in tracks' enable, create them always enabled and never disable, or handle enable/disable somewhere else (in DdsBridge for example, as long as we decide to keep the writers_ attribute).

juanlofer-eprosima

Piggyback request:

Please add to the participant's discovery traces the participant id (missing in endpoint removed/ignored/changed qos cases), I believe this is quite helpful for debugging.

juanlofer-eprosima · 2024-07-16T07:58:00Z

ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp

+     * @param routes_config: Configuration of the routes of the Bridge
+     * @param remove_unused_entities: Whether the Bridge should remove unused entities
+     * @param manual_topics: Topics that explicitally set a QoS attribute for this participant
+     * @param endpoint_kind: Kind of the endpoint that discovered the topic


NIT: I believe DdsBridge should be agnostic (or at least has been until now) to discovery events. So instead of passing the kind of the endpoint that discovered the topic or was discovered, I would pass the kind of the endpoint that should be created.

juanlofer-eprosima · 2024-07-16T08:01:12Z

ddspipe_core/src/cpp/core/DdsPipe.cpp

@@ -527,7 +531,8 @@ void DdsPipe::create_new_service_nts_(
 }

 void DdsPipe::activate_topic_nts_(
-        const utils::Heritable<DistributedTopic>& topic) noexcept
+        const utils::Heritable<DistributedTopic>& topic,
+        const EndpointKind& endpoint_kind /*= EndpointKind::reader*/) noexcept


Be careful with the following case: an endpoint is discovered while its topic is blocked, then it is only added to current_topics_ hence losing the kind information. So if the topic is then allowed, a bridge is wrongly created with the default kind value.

Related scenario: subsequent relevant discovered endpoints would not be taken into account, but only the first one (used in DdsBridge constructor).

Potential solution: create an EndpointsManager that would keep track of all created endpoints, and also the ones that should be created once enabled (so DdsBridges will always be created even if the topic is disabled). This new object would then contain all references of entities, so the creation of a track would require passing a reference to this object as well as a map of ids.

juanlofer-eprosima · 2024-07-16T09:54:27Z

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

-    // Add the writer to the tracks it has routes for.
-    add_writer_to_tracks_nts_(participant_id, writer);
+    // Create the track
+    create_track_nts_(participant_id, reader, writers_);


Shouldn't you be passing only the IWriters in the route?

juanlofer-eprosima · 2024-07-16T10:31:34Z

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

+    assert(participant_id != DEFAULT_PARTICIPANT_ID);
+
+    // Create the writer
+    auto writer = create_writer_nts_(participant_id);


Another corner case: shouldn't we avoid creating writers if not present in any route?

Related: should we also avoid creating a reader if there is a "blockage" route? I'd say yes.

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

juanlofer-eprosima · 2024-09-20T10:56:52Z

ddspipe_core/src/cpp/configuration/RoutesConfiguration.cpp

+RoutesConfiguration::RoutesMap RoutesConfiguration::routes_of_readers(
+        const std::map<types::ParticipantId, bool>& participant_ids) const noexcept
+{
+    static RoutesConfiguration::RoutesMap readers_routes;


Remove static.

Tempate temporarily deployed to codecov January 17, 2024 07:45 — with GitHub Actions Inactive

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Tempate changed the title ~~Make remove unused entities compatible with the discovery trigger~~ [19942] Make remove unused entities compatible with the discovery trigger Jan 29, 2024

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Tempate force-pushed the feature/dynamic_tracks_discovery_trigger branch from fd5c1bb to 4428faa Compare April 10, 2024 14:09

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Tempate mentioned this pull request Jul 8, 2024

[19942] Make remove unused entities compatible with the discovery trigger eProsima/DDS-Router#460

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Tempate force-pushed the feature/dynamic_tracks_discovery_trigger branch from 4428faa to 6abb4d6 Compare July 8, 2024 07:37

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Tempate force-pushed the feature/dynamic_tracks_discovery_trigger branch from 6abb4d6 to 1cf2453 Compare July 15, 2024 14:27

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Tempate added 5 commits September 18, 2024 12:17

Make remove unused entities compatible with the discovery trigger

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

Generate the routes outside of the DdsBridge

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[19942] Make remove unused entities compatible with the discovery trigger #83

[19942] Make remove unused entities compatible with the discovery trigger #83

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[19942] Make remove unused entities compatible with the discovery trigger #83

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[19942] Make remove unused entities compatible with the discovery trigger #83

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