Refs #21096: Implementation

Signed-off-by: Mario Dominguez <[email protected]>

include/fastdds/dds/core/Types.hpp

@@ -23,6 +23,8 @@ namespace dds {
 
 typedef uint32_t DomainId_t;
 
+const DomainId_t c_DomainId_t_Unknown = 0xFFFFFFFF;
+
 const int32_t LENGTH_UNLIMITED = -1;
 
 } // namespace dds

include/fastdds/dds/core/policy/ParameterTypes.hpp

@@ -525,6 +525,43 @@ class ParameterGuid_t : public Parameter_t
 
 #define PARAMETER_GUID_LENGTH 16
 
+/**
+ * @ingroup PARAMETER_MODULE
+ */
+class ParameterDomainId_t : public Parameter_t
+{
+public:
+
+    //!Domain ID. <br> By default, 0.
+    uint32_t domain_id;
+
+    /**
+     * @brief Constructor without parameters
+     */
+    ParameterDomainId_t()
+        : domain_id(0)
+    {
+    }
+
+    /**
+     * Constructor using a parameter PID and the parameter length
+     *
+     * @param pid Pid of the parameter
+     * @param in_length Its associated length
+     */
+    ParameterDomainId_t(
+            ParameterId_t pid,
+            uint16_t in_length)
+        : Parameter_t(pid, in_length)
+        , domain_id(0)
+    {
+        domain_id = 0;
+    }
+
+};
+
+#define PARAMETER_DOMAINID_LENGTH 4
+
 /**
  * @ingroup PARAMETER_MODULE
  */

include/fastdds/rtps/builtin/data/ParticipantProxyData.hpp

@@ -25,6 +25,7 @@
 #include <chrono>
 
 #include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/dds/core/Types.hpp>
 #include <fastdds/rtps/attributes/ReaderAttributes.h>
 #include <fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.hpp>
 #include <fastdds/rtps/attributes/WriterAttributes.h>
@@ -77,6 +78,8 @@ class ParticipantProxyData
     GUID_t m_guid;
     //!Vendor ID
     fastdds::rtps::VendorId_t m_VendorId;
+    //!Domain ID
+    fastdds::dds::DomainId_t m_domain_id;
     //!Expects Inline QOS.
     bool m_expectsInlineQos;
     //!Available builtin endpoints

include/fastrtps/qos/ParameterTypes.h

@@ -53,6 +53,7 @@ using ParameterPort_t = fastdds::dds::ParameterPort_t;
 using ParameterGuid_t = fastdds::dds::ParameterGuid_t;
 using ParameterProtocolVersion_t = fastdds::dds::ParameterProtocolVersion_t;
 using ParameterVendorId_t = fastdds::dds::ParameterVendorId_t;
+using ParameterDomainId_t = fastdds::dds::ParameterDomainId_t;
 using ParameterIP4Address_t = fastdds::dds::ParameterIP4Address_t;
 using ParameterBool_t = fastdds::dds::ParameterBool_t;
 using ParameterStatusInfo_t = fastdds::dds::ParameterStatusInfo_t;

src/cpp/CMakeLists.txt

@@ -114,6 +114,7 @@ set(${PROJECT_NAME}_source_files
     rtps/builtin/discovery/participant/DirectMessageSender.cpp
     rtps/builtin/discovery/participant/PDP.cpp
     rtps/builtin/discovery/participant/PDPClient.cpp
+    rtps/builtin/discovery/participant/PDPClientListener.cpp
     rtps/builtin/discovery/participant/PDPListener.cpp
     rtps/builtin/discovery/participant/PDPServer.cpp
     rtps/builtin/discovery/participant/PDPServerListener.cpp

src/cpp/fastdds/core/policy/ParameterSerializer.hpp

@@ -433,6 +433,31 @@ inline bool ParameterSerializer<ParameterVendorId_t>::read_content_from_cdr_mess
     return valid;
 }
 
+template<>
+inline bool ParameterSerializer<ParameterDomainId_t>::add_content_to_cdr_message(
+        const ParameterDomainId_t& parameter,
+        fastrtps::rtps::CDRMessage_t* cdr_message)
+{
+    bool valid = fastrtps::rtps::CDRMessage::addUInt32(cdr_message, parameter.domain_id);
+    return valid;
+}
+
+template<>
+inline bool ParameterSerializer<ParameterDomainId_t>::read_content_from_cdr_message(
+        ParameterDomainId_t& parameter,
+        fastrtps::rtps::CDRMessage_t* cdr_message,
+        const uint16_t parameter_length)
+{
+    if (parameter_length != PARAMETER_VENDOR_LENGTH)
+    {
+        return false;
+    }
+    parameter.length = parameter_length;
+    bool valid = fastrtps::rtps::CDRMessage::readUInt32(cdr_message, &parameter.domain_id);
+    cdr_message->pos += 2; //padding
+    return valid;
+}
+
 template<>
 inline bool ParameterSerializer<ParameterIP4Address_t>::add_content_to_cdr_message(
         const ParameterIP4Address_t& parameter,

src/cpp/rtps/builtin/data/ParticipantProxyData.cpp

@@ -52,6 +52,7 @@ ParticipantProxyData::ParticipantProxyData(
         const RTPSParticipantAllocationAttributes& allocation)
     : m_protocolVersion(c_ProtocolVersion)
     , m_VendorId(c_VendorId_Unknown)
+    , m_domain_id(fastdds::dds::c_DomainId_t_Unknown)
     , m_expectsInlineQos(false)
     , m_availableBuiltinEndpoints(0)
     , m_networkConfiguration(0)
@@ -78,6 +79,7 @@ ParticipantProxyData::ParticipantProxyData(
     : m_protocolVersion(pdata.m_protocolVersion)
     , m_guid(pdata.m_guid)
     , m_VendorId(pdata.m_VendorId)
+    , m_domain_id(pdata.m_domain_id)
     , m_expectsInlineQos(pdata.m_expectsInlineQos)
     , m_availableBuiltinEndpoints(pdata.m_availableBuiltinEndpoints)
     , m_networkConfiguration(pdata.m_networkConfiguration)
@@ -151,6 +153,9 @@ uint32_t ParticipantProxyData::get_serialized_size(
     // PID_VENDORID
     ret_val += 4 + 4;
 
+    // PID_DOMAIN_ID
+    ret_val += 4 + 4;
+
     if (m_expectsInlineQos)
     {
         // PID_EXPECTS_INLINE_QOS
@@ -252,6 +257,14 @@ bool ParticipantProxyData::writeToCDRMessage(
             return false;
         }
     }
+    {
+        ParameterDomainId_t p(fastdds::dds::PID_DOMAIN_ID, 4);
+        p.domain_id = this->m_domain_id;
+        if (!fastdds::dds::ParameterSerializer<ParameterDomainId_t>::add_to_cdr_message(p, msg))
+        {
+            return false;
+        }
+    }
     if (this->m_expectsInlineQos)
     {
         ParameterBool_t p(fastdds::dds::PID_EXPECTS_INLINE_QOS, PARAMETER_BOOL_LENGTH, m_expectsInlineQos);
@@ -443,6 +456,18 @@ bool ParticipantProxyData::readFromCDRMessage(
                         is_shm_transport_available &= (m_VendorId == c_VendorId_eProsima);
                         break;
                     }
+                    case fastdds::dds::PID_DOMAIN_ID:
+                    {
+                        ParameterDomainId_t p(pid, plength);
+                        if (!fastdds::dds::ParameterSerializer<ParameterDomainId_t>::read_from_cdr_message(p, msg,
+                                plength))
+                        {
+                            return false;
+                        }
+
+                        m_domain_id = p.domain_id;
+                        break;
+                    }
                     case fastdds::dds::PID_EXPECTS_INLINE_QOS:
                     {
                         ParameterBool_t p(pid, plength);
@@ -740,6 +765,7 @@ void ParticipantProxyData::clear()
     m_guid = GUID_t();
     //set_VendorId_Unknown(m_VendorId);
     m_VendorId = c_VendorId_Unknown;
+    m_domain_id = fastdds::dds::c_DomainId_t_Unknown;
     m_expectsInlineQos = false;
     m_availableBuiltinEndpoints = 0;
     m_networkConfiguration = 0;
@@ -771,6 +797,7 @@ void ParticipantProxyData::copy(
     m_guid = pdata.m_guid;
     m_VendorId[0] = pdata.m_VendorId[0];
     m_VendorId[1] = pdata.m_VendorId[1];
+    m_domain_id = pdata.m_domain_id;
     m_availableBuiltinEndpoints = pdata.m_availableBuiltinEndpoints;
     m_networkConfiguration = pdata.m_networkConfiguration;
     metatraffic_locators = pdata.metatraffic_locators;

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

@@ -232,6 +232,7 @@ void PDP::initializeParticipantProxyData(
     RTPSParticipantAttributes& attributes = mp_RTPSParticipant->getAttributes();
     bool announce_locators = !mp_RTPSParticipant->is_intraprocess_only();
 
+    participant_data->m_domain_id = mp_RTPSParticipant->get_domain_id();
     participant_data->m_leaseDuration = attributes.builtin.discovery_config.leaseDuration;
     //set_VendorId_eProsima(participant_data->m_VendorId);
     participant_data->m_VendorId = c_VendorId_eProsima;

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

@@ -18,6 +18,7 @@
  */
 
 #include <rtps/builtin/discovery/participant/PDPClient.h>
+#include <rtps/builtin/discovery/participant/PDPClientListener.hpp>
 
 #include <algorithm>
 #include <forward_list>
@@ -356,7 +357,7 @@ bool PDPClient::create_ds_pdp_reliable_endpoints(
     }
 #endif // HAVE_SECURITY
 
-    endpoints.reader.listener_.reset(new PDPListener(this));
+    endpoints.reader.listener_.reset(new PDPClientListener(this));
 
     RTPSReader* reader = nullptr;
 #if HAVE_SECURITY

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

@@ -0,0 +1,64 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file PDPClientListener.cpp
+ *
+ */
+
+#include <rtps/builtin/discovery/participant/PDPClientListener.hpp>
+
+#include <mutex>
+
+#include <fastdds/core/policy/ParameterList.hpp>
+#include <fastdds/dds/log/Log.hpp>
+#include <fastdds/rtps/history/ReaderHistory.h>
+#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
+#include <fastdds/rtps/participant/RTPSParticipantListener.h>
+#include <fastdds/rtps/reader/RTPSReader.h>
+
+#include <rtps/builtin/discovery/endpoint/EDP.h>
+#include <rtps/builtin/discovery/participant/PDP.h>
+#include <rtps/builtin/discovery/participant/PDPEndpoints.hpp>
+#include <rtps/network/utils/external_locators.hpp>
+#include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/resources/TimedEvent.h>
+
+using ParameterList = eprosima::fastdds::dds::ParameterList;
+
+namespace eprosima {
+namespace fastrtps {
+namespace rtps {
+
+PDPClientListener::PDPClientListener(
+        PDP* parent_pdp)
+    : PDPListener(parent_pdp)
+{
+}
+
+bool PDPClientListener::check_discovery_conditions(
+    ParticipantProxyData& /* participant_data */,
+    void* /* extra data*/)
+{
+    /* Do not check PID_VENDOR_ID */
+    // In Discovery Server we don't impose
+    // domain ids to be the same
+    /* Do not check PID_DOMAIN_ID */
+    /* Do not check PARTICIPANT_TYPE */
+    return true;
+}
+
+} /* namespace rtps */
+} /* namespace fastrtps */
+} /* namespace eprosima */

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

@@ -0,0 +1,62 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file PDPClientListener.h
+ *
+ */
+
+#ifndef _FASTDDS_RTPS_PDPCLIENTLISTENER_H_
+#define _FASTDDS_RTPS_PDPCLIENTLISTENER_H_
+#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+#include <rtps/builtin/discovery/participant/PDPListener.h>
+
+namespace eprosima {
+namespace fastrtps {
+namespace rtps {
+
+/**
+ * Class PDPClientListener used by a PDP discovery client.
+ * This class is implemented in order to use the same structure than with any other RTPSReader.
+ * @ingroup DISCOVERY_MODULE
+ */
+class PDPClientListener : public PDPListener
+{
+
+public:
+
+    /**
+     * @param parent Pointer to object creating this object
+     */
+    PDPClientListener(
+            PDP* parent);
+
+    virtual ~PDPClientListener() override = default;
+
+protected:
+
+    bool check_discovery_conditions(
+            ParticipantProxyData& pdata,
+            void* extra_data) override;
+
+};
+
+
+} /* namespace rtps */
+} /* namespace fastrtps */
+} /* namespace eprosima */
+
+#endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+#endif /* _FASTDDS_RTPS_PDPCLIENTLISTENER_H_ */

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

@@ -114,6 +114,13 @@ void PDPListener::onNewCacheChangeAdded(
                 return;
             }
 
+            void* empty_extra_data = nullptr;
+            static_cast<void>(empty_extra_data);
+            if (!check_discovery_conditions(temp_participant_data_, empty_extra_data))
+            {
+                return;
+            }
+
             // Filter locators
             const auto& pattr = parent_pdp_->getRTPSParticipant()->getAttributes();
             fastdds::rtps::network::external_locators::filter_remote_locators(temp_participant_data_,
@@ -274,6 +281,30 @@ void PDPListener::process_alive_data(
     reader->getMutex().lock();
 }
 
+bool PDPListener::check_discovery_conditions(
+        ParticipantProxyData& participant_data,
+        void* /*extra_data*/)
+{
+    bool ret = true;
+    uint32_t remote_participant_domain_id = participant_data.m_domain_id;
+
+    // In PDPSimple, do not match if the participant is from a different domain.
+    // If the domain id is unknown, it is assumed to be the same domain
+    if (remote_participant_domain_id != parent_pdp_->getRTPSParticipant()->get_domain_id() &&
+            remote_participant_domain_id != fastdds::dds::c_DomainId_t_Unknown)
+    {
+        EPROSIMA_LOG_INFO(RTPS_PDP_DISCOVERY, "Received participant with different domain id ("
+                << remote_participant_domain_id << ") than ours ("
+                << parent_pdp_->getRTPSParticipant()->get_domain_id() << ")");
+        std::cout << "Received participant with different domain id ("
+                  << remote_participant_domain_id << ") than ours ("
+                  << parent_pdp_->getRTPSParticipant()->get_domain_id() << ")" << std::endl;
+        ret = false;
+    }
+
+    return ret;
+}
+
 bool PDPListener::get_key(
         CacheChange_t* change)
 {