From f23113336f8d7f59385b4c270d0df3fec0df21e5 Mon Sep 17 00:00:00 2001
From: cferreiragonz <carlosferreira@eprosima.com>
Date: Wed, 12 Jun 2024 12:32:59 +0200
Subject: [PATCH] Refs #21170: Support DS servers connection

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
---
 .../builtin/discovery/participant/PDPServer.cpp   | 10 ----------
 src/cpp/rtps/participant/RTPSParticipantImpl.cpp  | 15 +++++++++++++++
 2 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
index 0eaed35dc02..14772442e4c 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
@@ -485,16 +485,6 @@ bool PDPServer::create_ds_pdp_reliable_endpoints(
         wout->reader_data_filter(pdp_filter);
         // Enable separate sending so the filter can be called for each change and reader proxy
         wout->set_separate_sending(true);
-
-        if (!secure)
-        {
-            eprosima::shared_lock<eprosima::shared_mutex> disc_lock(mp_builtin->getDiscoveryMutex());
-
-            for (const eprosima::fastdds::rtps::RemoteServerAttributes& it : mp_builtin->m_DiscoveryServers)
-            {
-                match_pdp_reader_nts_(it);
-            }
-        }
     }
     // Could not create PDP Writer, so return false
     else
diff --git a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
index 7a3336fbf7b..1322fa9db2d 100644
--- a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
+++ b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
@@ -333,6 +333,21 @@ RTPSParticipantImpl::RTPSParticipantImpl(
                                     }
                                 });
                     }
+                    for (fastdds::rtps::RemoteServerAttributes& it : m_att.builtin.discovery_config.m_DiscoveryServers)
+                    {
+                        std::for_each(it.metatrafficUnicastLocatorList.begin(),
+                                it.metatrafficUnicastLocatorList.end(), [&](Locator_t& locator)
+                                {
+                                    // TCP DS default logical port is the same as the physical one
+                                    if (locator.kind == LOCATOR_KIND_TCPv4 || locator.kind == LOCATOR_KIND_TCPv6)
+                                    {
+                                        if (IPLocator::getLogicalPort(locator) == 0)
+                                        {
+                                            IPLocator::setLogicalPort(locator, IPLocator::getPhysicalPort(locator));
+                                        }
+                                    }
+                                });
+                    }
                 }
             }
             break;