Discovery Server refactor (#4716)

* Refs #20629: Spelling Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Random GUID function Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Update CLI for GUID_LESS DS when no server_id is provided Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Improve CLI Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: GUID less env.var. Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Turn servers_ into vector so it is modifyable Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Check participant type from ParameterPropertyList Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Refactor PDPClient Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Refactor PDPServer Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Send Data(p) of servers to create a mesh topology Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Do not send Data(p) of remote clients Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Update Servers' ping routine Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Refactor update_attributes Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Avoid trying to create extra resources Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Support match with security Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Modify DS example to work wo/ GUID Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Use LocatorList for remote servers Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Use LocatorList for remote servers - XML Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Use LocatorList for remote servers - TESTS Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Avoid deleting direct servers senders resources Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Fix tsan Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Add server pdp to queue on client match Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Avoid sending non-direct client Data(Uw|Ur) Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Change Warning into Info Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Protect assign during backup Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Use Participant Type in PDPServerListener Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Match EDP of SUPERCLIENTS too Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Avoid Warning when using dns with env_var Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Uncrustify Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Ping always Remote_servers and initial ping after list update Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Avoid SC matching with remote servers Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Fix windows build Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Fix Mac test and improve Inconsistent test Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Match EDP with virtual EDP of SC Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Protect servers list Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Protect pdp_to_send Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Refactor RTPSParticipantImpl constructor. Signed-off-by: Miguel Company <[email protected]> * Refs #20629: Revision - Doxygen and comments Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Revision - major changes Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Rebase Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Review - Make ServerAttributes private Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Minor fix after rebase Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Fix security DS Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Review 2 - Minor fixes Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Use new locator_entry method Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Move ServerAttributes implementation Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Move ServerClientEnvironment tests to unittests & fix discovery of TST Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Fix mac & windows builds Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Review 3 Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Add server only in assignRemoteEndpoints Signed-off-by: cferreiragonz <[email protected]> * Refs #20629: Add versions.md Signed-off-by: cferreiragonz <[email protected]> --------- Signed-off-by: cferreiragonz <[email protected]> Signed-off-by: Miguel Company <[email protected]> Co-authored-by: Miguel Company <[email protected]>
eProsima · Jul 3, 2024 · ee84af2 · ee84af2
1 parent 9961e61
commit ee84af2
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Showing 99 changed files with 2,326 additions and 3,000 deletions.
diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.cpp
@@ -62,7 +62,6 @@ bool HelloWorldPublisher::init(
         const std::string& topic_name,
         const std::string& server_address,
         unsigned short server_port,
-        unsigned short server_id,
         TransportKind transport)
 {
     hello_.index(0);
@@ -142,7 +141,14 @@ bool HelloWorldPublisher::init(
 
             server_locator.kind = LOCATOR_KIND_TCPv6;
             eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
-            eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            if (eprosima::fastdds::rtps::IPLocator::isIPv6(ip_server_address))
+            {
+                eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            }
+            else
+            {
+                eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, "::1");
+            }
             break;
         }
 
@@ -154,15 +160,8 @@ bool HelloWorldPublisher::init(
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
             eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;
 
-    // Set SERVER's GUID prefix
-    RemoteServerAttributes remote_server_att;
-    remote_server_att.guidPrefix = get_discovery_server_guid_from_id(server_id);
-
-    // Set SERVER's listening locator for PDP
-    remote_server_att.metatrafficUnicastLocatorList.push_back(server_locator);
-
     // Add remote SERVER to CLIENT's list of SERVERs
-    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
+    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
 
     // Add descriptor
     pqos.transport().user_transports.push_back(descriptor);
@@ -179,7 +178,6 @@ bool HelloWorldPublisher::init(
         "Publisher Participant " << pqos.name() <<
         " created with GUID " << participant_->guid() <<
         " connecting to server <" << server_locator  << "> " <<
-        " with Guid: <" << remote_server_att.guidPrefix << "> " <<
         std::endl;
 
     // REGISTER THE TYPE

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.h b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.h
@@ -46,7 +46,6 @@ class HelloWorldPublisher
             const std::string& topic_name,
             const std::string& server_address,
             unsigned short server_port,
-            unsigned short server_id,
             TransportKind transport);
 
     //! Publish a sample

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.cpp
@@ -57,12 +57,10 @@ void DiscoveryServer::stop()
 bool DiscoveryServer::init(
         const std::string& server_address,
         unsigned short server_port,
-        unsigned short server_id,
         TransportKind transport,
         bool has_connection_server,
         const std::string& connection_server_address,
-        unsigned short connection_server_port,
-        unsigned short connection_server_id)
+        unsigned short connection_server_port)
 {
     DomainParticipantQos pqos;
     pqos.name("DS-Server");
@@ -163,7 +161,14 @@ bool DiscoveryServer::init(
 
             listening_locator.kind = LOCATOR_KIND_TCPv6;
             eprosima::fastdds::rtps::IPLocator::setLogicalPort(listening_locator, server_port);
-            eprosima::fastdds::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
+            if (eprosima::fastdds::rtps::IPLocator::isIPv6(ip_listening_address))
+            {
+                eprosima::fastdds::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
+            }
+            else
+            {
+                eprosima::fastdds::rtps::IPLocator::setIPv6(listening_locator, "::1");
+            }
             connection_locator.kind = LOCATOR_KIND_TCPv6;
             eprosima::fastdds::rtps::IPLocator::setIPv6(connection_locator, ip_connection_address);
             eprosima::fastdds::rtps::IPLocator::setLogicalPort(connection_locator, connection_server_port);
@@ -181,27 +186,17 @@ bool DiscoveryServer::init(
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
             eprosima::fastdds::rtps::DiscoveryProtocol::SERVER;
 
-    // Set SERVER's GUID prefix
-    pqos.wire_protocol().prefix = get_discovery_server_guid_from_id(server_id);
-
     // Set SERVER's listening locator for PDP
     pqos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(listening_locator);
 
     ///////////////////////////////
     // Configure Connection address
     ///////////////////////////////
 
-    RemoteServerAttributes remote_server_att;
     if (has_connection_server)
     {
-        // Set SERVER's GUID prefix
-        remote_server_att.guidPrefix = get_discovery_server_guid_from_id(connection_server_id);
-
-        // Set SERVER's listening locator for PDP
-        remote_server_att.metatrafficUnicastLocatorList.push_back(connection_locator);
-
         // Add remote SERVER to CLIENT's list of SERVERs
-        pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
+        pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(connection_locator);
     }
 
 
@@ -224,8 +219,7 @@ bool DiscoveryServer::init(
             "Server Participant " << pqos.name() <<
             " created with GUID " << participant_->guid() <<
             " listening in address <" << listening_locator  << "> " <<
-            " connecting with Discovery Server <" << remote_server_att.guidPrefix << "> "
-            " with address <" << connection_locator  << "> " <<
+            " connecting with Discovery Server <" << connection_locator  << "> " <<
             std::endl;
     }
     else

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.h b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.h
@@ -44,12 +44,10 @@ class DiscoveryServer
     bool init(
             const std::string& server_address,
             unsigned short server_port,
-            unsigned short server_id,
             TransportKind transport,
             bool has_connection_server,
             const std::string& connection_server_address,
-            unsigned short connection_server_port,
-            unsigned short connection_server_id);
+            unsigned short connection_server_port);
 
     //! Run
     void run(

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerSubscriber.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerSubscriber.cpp
@@ -67,7 +67,6 @@ bool HelloWorldSubscriber::init(
         uint32_t max_messages,
         const std::string& server_address,
         unsigned short server_port,
-        unsigned short server_id,
         TransportKind transport)
 {
     DomainParticipantQos pqos;
@@ -145,7 +144,14 @@ bool HelloWorldSubscriber::init(
 
             server_locator.kind = LOCATOR_KIND_TCPv6;
             eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
-            eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            if (eprosima::fastdds::rtps::IPLocator::isIPv6(ip_server_address))
+            {
+                eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            }
+            else
+            {
+                eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, "::1");
+            }
             break;
         }
 
@@ -157,15 +163,8 @@ bool HelloWorldSubscriber::init(
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
             eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;
 
-    // Set SERVER's GUID prefix
-    RemoteServerAttributes remote_server_att;
-    remote_server_att.guidPrefix = get_discovery_server_guid_from_id(server_id);
-
-    // Set SERVER's listening locator for PDP
-    remote_server_att.metatrafficUnicastLocatorList.push_back(server_locator);
-
     // Add remote SERVER to CLIENT's list of SERVERs
-    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
+    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
 
     // Add descriptor
     pqos.transport().user_transports.push_back(descriptor);
@@ -183,7 +182,6 @@ bool HelloWorldSubscriber::init(
         "Subscriber Participant " << pqos.name() <<
         " created with GUID " << participant_->guid() <<
         " connecting to server <" << server_locator  << "> " <<
-        " with Guid: <" << remote_server_att.guidPrefix << "> " <<
         std::endl;
 
     // REGISTER THE TYPE

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerSubscriber.h b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerSubscriber.h
@@ -49,7 +49,6 @@ class HelloWorldSubscriber
             uint32_t max_messages,
             const std::string& server_address,
             unsigned short server_port,
-            unsigned short server_id,
             TransportKind transport);
 
     //! RUN the subscriber until number samples are received

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServer_main.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServer_main.cpp
@@ -64,13 +64,11 @@ int main(
     // Discovery Server connection
     std::string connection_address = "127.0.0.1";   // default ip address
     uint16_t connection_port = 16166;   // default physical port
-    uint16_t connection_ds_id = 0;   // default DS id
     bool id_ds_set = false;
 
     // Discovery Server listening
     std::string listening_address = "127.0.0.1";   // default ip address
     uint16_t listening_port = 16166;   // default physical port
-    uint16_t listening_ds_id = 0;   // default DS id
     uint32_t timeout = 0;   // default DS id
 
     if (argc > 1)
@@ -190,16 +188,13 @@ int main(
                 }
 
                 case optionIndex::CONNECTION_PORT:
+                    id_ds_set = true;
                     connection_port = static_cast<uint16_t>(strtol(opt.arg, nullptr, 10));
                     break;
 
                 case optionIndex::CONNECTION_ADDRESS:
-                    connection_address = opt.arg;
-                    break;
-
-                case optionIndex::CONNECTION_DISCOVERY_SERVER_ID:
                     id_ds_set = true;
-                    connection_ds_id = static_cast<uint16_t>(strtol(opt.arg, nullptr, 10));
+                    connection_address = opt.arg;
                     break;
 
                 case optionIndex::LISTENING_PORT:
@@ -221,15 +216,6 @@ int main(
 
                     break;
 
-                case optionIndex::LISTENING_DISCOVERY_SERVER_ID:
-                    if (type != EntityKind::SERVER)
-                    {
-                        print_warning("server", opt.name);
-                        break;
-                    }
-                    listening_ds_id = static_cast<uint16_t>(strtol(opt.arg, nullptr, 10));
-                    break;
-
                 case optionIndex::TIMEOUT:
                     if (type != EntityKind::SERVER)
                     {
@@ -268,15 +254,6 @@ int main(
     //     return 1;
     // }
 
-    // Check that a DS has not same id itself and connection
-    if (id_ds_set && type == EntityKind::SERVER && listening_ds_id == connection_ds_id)
-    {
-        std::cerr << "ERROR: Discovery Servers ids must be different, "
-                  << " cannot connect to a server with same id " << listening_ds_id << std::endl;
-        option::printUsage(fwrite, stdout, usage, columns);
-        return 1;
-    }
-
     // Check that a DS has not same ip and port in listening and connection
     if (id_ds_set &&
             type == EntityKind::SERVER &&
@@ -299,7 +276,6 @@ int main(
                         topic_name,
                         connection_address,
                         connection_port,
-                        connection_ds_id,
                         transport))
             {
                 mypub.run(static_cast<uint32_t>(count), static_cast<uint32_t>(sleep));
@@ -319,7 +295,6 @@ int main(
                         static_cast<uint32_t>(count),
                         connection_address,
                         connection_port,
-                        connection_ds_id,
                         transport))
             {
                 mysub.run(static_cast<uint32_t>(count));
@@ -337,12 +312,10 @@ int main(
             if (myserver.init(
                         listening_address,
                         listening_port,
-                        listening_ds_id,
                         transport,
                         id_ds_set,
                         connection_address,
-                        connection_port,
-                        connection_ds_id))
+                        connection_port))
             {
                 myserver.run(timeout);
             }

diff --git a/examples/cpp/dds/DiscoveryServerExample/README.md b/examples/cpp/dds/DiscoveryServerExample/README.md
@@ -35,9 +35,6 @@ Publisher options:
                     Server listening port (Default port: 16166).
                   --transport=<udpv4|udpv6|tcpv4|tcpv6>
                     Use Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (Default: udpv4).
-  -d <num>        --connection-discovery-server-id <num>
-                    Id of the Discovery Server to connect with. GUID will be
-                    calculated from id (Default: 0).
 
 Subscriber options:
   -t <topic_name> --topic=<topic_name>
@@ -51,16 +48,10 @@ Subscriber options:
                     Server listening port (Default port: 16166).
                   --transport=<udpv4|udpv6|tcpv4|tcpv6>
                     Use Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (Default: udpv4).
-  -d <num>        --connection-discovery-server-id <num>
-                    Id of the Discovery Server to connect with. GUID will be
-                    calculated from id (Default: 0).
 
 DiscoveryServer options:
                   --listening-address=<IPaddress>
                     Server address (Default address: 127.0.0.1).
-                  --id=<num>
-                    Id of this Discovery Server.
-                    GUID will be calculated from id (Default: 0).
                   --listening-port=<num>
                     Server listening port (Default port: 16166).
                   --transport=<udpv4|udpv6|tcpv4|tcpv6>
@@ -69,10 +60,6 @@ DiscoveryServer options:
                     Server address (Default address: 127.0.0.1).
   -p <num>        --connection-port=<num>
                     Server listening port (Default port: 16166).
-  -d <num>        --connection-discovery-server-id <num>
-                    Id of the Discovery Server to connect with. GUID will be
-                    calculated from id (if not set, this DS will not connect
-                    to other server).
   -z <num>        --timeout <num>
                     Number of seconds before finish the process (Default: 0 = till ^C).
 ```