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Discovery Server refactor (#751)
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* Refs #20629: Modify DS main page

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

* Refs #20629: Update CLI and examples

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

* Refs #20629: Update env.var. without positional arguments

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

* Refs #20629: Update XML tags

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

* Refs #20629: Update DS XML examples

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

* Refs #20629: Update ROS 2 Use case

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

* Refs #20629: Review

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

* Refs #20629: Review - Make ServerAttributes private

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

---------

Signed-off-by: cferreiragonz <[email protected]>
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cferreiragonz authored Jul 3, 2024
1 parent 6a53b9e commit 5b29157
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Showing 16 changed files with 615 additions and 906 deletions.
115 changes: 27 additions & 88 deletions code/DDSCodeTester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1159,7 +1159,6 @@ class RemoteDiscoveryDomainParticipantListener : public DomainParticipantListene
void dds_discovery_examples()
{
using Locator_t = eprosima::fastdds::rtps::Locator_t;
using RemoteServerAttributes = eprosima::fastdds::rtps::RemoteServerAttributes;
using IPLocator = eprosima::fastdds::rtps::IPLocator;
using DiscoveryProtocol = eprosima::fastdds::rtps::DiscoveryProtocol;
using ParticipantFilteringFlags = eprosima::fastdds::rtps::ParticipantFilteringFlags;
Expand Down Expand Up @@ -1277,6 +1276,14 @@ void dds_discovery_examples()
}
{
//CONF_SERVER_SERVER_GUIDPREFIX_OPTION_1
// Using the ``>>`` operator and the ``std::istringstream`` type.
DomainParticipantQos serverQos;
std::istringstream("44.53.00.5f.45.50.52.4f.53.49.4d.41") >> serverQos.wire_protocol().prefix;
//!--
}
{
//CONF_SERVER_SERVER_GUIDPREFIX_OPTION_2
// Manual setting of the ``unsigned char`` in ASCII format.
eprosima::fastdds::rtps::GuidPrefix_t serverGuidPrefix;
serverGuidPrefix.value[0] = eprosima::fastdds::rtps::octet(0x44);
serverGuidPrefix.value[1] = eprosima::fastdds::rtps::octet(0x53);
Expand All @@ -1295,37 +1302,24 @@ void dds_discovery_examples()
serverQos.wire_protocol().prefix = serverGuidPrefix;
//!--
}
{
//CONF_SERVER_SERVER_GUIDPREFIX_OPTION_2
DomainParticipantQos serverQos;
std::istringstream("44.53.00.5f.45.50.52.4f.53.49.4d.41") >> serverQos.wire_protocol().prefix;
//!--
}
{
//CONF_SERVER_CLIENT_GUIDPREFIX
RemoteServerAttributes server;
server.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");

DomainParticipantQos clientQos;
clientQos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
//!--
}
{
//CONF_SERVER_CLIENT_LOCATORS
Locator_t locator;
// The default locator kind is UDPv4
locator.kind = LOCATOR_KIND_UDPv4;
IPLocator::setIPv4(locator, 192, 168, 1, 133);
locator.port = 64863;
RemoteServerAttributes server;
server.metatrafficUnicastLocatorList.push_back(locator);

DomainParticipantQos clientQos;
clientQos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
clientQos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(locator);
//!--
}

{
//CONF_SERVER_SERVER_LOCATORS
Locator_t locator;
// The default locator kind is UDPv4
locator.kind = LOCATOR_KIND_UDPv4;
IPLocator::setIPv4(locator, 192, 168, 1, 133);
locator.port = 64863;

Expand All @@ -1350,19 +1344,13 @@ void dds_discovery_examples()
client_or_server->get_qos(client_or_server_qos);

/* Create a new server entry to which the client or server should connect */
RemoteServerAttributes remote_server_att;

// Set server's GUID prefix
remote_server_att.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.42");

// Set server's listening locator for PDP
Locator_t locator;
IPLocator::setIPv4(locator, 127, 0, 0, 1);
locator.port = 11812;
remote_server_att.metatrafficUnicastLocatorList.push_back(locator);

/* Update list of remote servers for this client or server */
client_or_server_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
client_or_server_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(locator);
if (RETCODE_OK != client_or_server->set_qos(client_or_server_qos))
{
// Error
Expand Down Expand Up @@ -1394,28 +1382,20 @@ void dds_discovery_examples()
server_qos.wire_protocol().builtin.discovery_config.discoveryProtocol =
DiscoveryProtocol::SERVER;

// Set SERVER's GUID prefix
std::istringstream("44.53.00.5f.45.50.52.4f.53.49.4d.41") >> server_qos.wire_protocol().prefix;

// Set SERVER's listening locator for PDP
Locator_t locator;
IPLocator::setIPv4(locator, 127, 0, 0, 1);
locator.port = 11811;
server_qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator);

/* Add a remote serve to which this server will connect */
// Set remote SERVER's GUID prefix
RemoteServerAttributes remote_server_att;
remote_server_att.ReadguidPrefix("44.53.01.5f.45.50.52.4f.53.49.4d.41");

// Set remote SERVER's listening locator for PDP
Locator_t remote_locator;
IPLocator::setIPv4(remote_locator, 127, 0, 0, 1);
remote_locator.port = 11812;
remote_server_att.metatrafficUnicastLocatorList.push_back(remote_locator);

// Add remote SERVER to SERVER's list of SERVERs
server_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
server_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_locator);

// Create SERVER
DomainParticipant* server =
Expand All @@ -1437,18 +1417,13 @@ void dds_discovery_examples()
client_qos.wire_protocol().builtin.discovery_config.discoveryProtocol =
DiscoveryProtocol::CLIENT;

// Set SERVER's GUID prefix
RemoteServerAttributes remote_server_att;
remote_server_att.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");

// Set SERVER's listening locator for PDP
Locator_t locator;
IPLocator::setIPv4(locator, 127, 0, 0, 1);
locator.port = 11811;
remote_server_att.metatrafficUnicastLocatorList.push_back(locator);

// Add remote SERVER to CLIENT's list of SERVERs
client_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
client_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(locator);

// Set ping period to 250 ms
client_qos.wire_protocol().builtin.discovery_config.discoveryServer_client_syncperiod =
Expand Down Expand Up @@ -6242,7 +6217,6 @@ void dds_transport_examples ()
void dds_usecase_examples()
{
using Locator_t = eprosima::fastdds::rtps::Locator_t;
using RemoteServerAttributes = eprosima::fastdds::rtps::RemoteServerAttributes;
using IPLocator = eprosima::fastdds::rtps::IPLocator;
using DiscoveryProtocol = eprosima::fastdds::rtps::DiscoveryProtocol;

Expand Down Expand Up @@ -6285,9 +6259,6 @@ void dds_usecase_examples()
IPLocator::setIPv4(server_locator, "192.168.10.57");
server_locator.port = 56542;
qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(server_locator);

// Set the GUID prefix to identify this server
std::istringstream("72.61.73.70.66.61.72.6d.74.65.73.74") >> qos.wire_protocol().prefix;
//!--
}

Expand All @@ -6303,14 +6274,8 @@ void dds_usecase_examples()
IPLocator::setIPv4(remote_server_locator, "192.168.10.57");
remote_server_locator.port = 56542;

RemoteServerAttributes remote_server_attr;
remote_server_attr.metatrafficUnicastLocatorList.push_back(remote_server_locator);

// Set the GUID prefix to identify the remote server
remote_server_attr.ReadguidPrefix("72.61.73.70.66.61.72.6d.74.65.73.74");

// Connect to the SERVER at the previous locator
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr);
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_locator);
//!--
}

Expand All @@ -6324,6 +6289,7 @@ void dds_usecase_examples()
// Configure participant_1 as SERVER listening on the previous locator
DomainParticipantQos server_1_qos;
server_1_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SERVER;
// Optional GUID
std::istringstream("75.63.2D.73.76.72.63.6C.6E.74.2D.31") >> server_1_qos.wire_protocol().prefix;
server_1_qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(server_locator_1);

Expand All @@ -6335,6 +6301,7 @@ void dds_usecase_examples()
// Configure participant_2 as SERVER listening on the previous locator
DomainParticipantQos server_2_qos;
server_2_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SERVER;
// Optional GUID
std::istringstream("75.63.2D.73.76.72.63.6C.6E.74.2D.32") >> server_2_qos.wire_protocol().prefix;
server_2_qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(server_locator_2);
//!--
Expand All @@ -6347,24 +6314,16 @@ void dds_usecase_examples()
IPLocator::setIPv4(remote_server_locator_1, "192.168.10.57");
remote_server_locator_1.port = 56542;

RemoteServerAttributes remote_server_attr_1;
remote_server_attr_1.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.31");
remote_server_attr_1.metatrafficUnicastLocatorList.push_back(remote_server_locator_1);

// Define a locator for the second SERVER Participant
Locator_t remote_server_locator_2;
IPLocator::setIPv4(remote_server_locator_2, "192.168.10.60");
remote_server_locator_2.port = 56543;

RemoteServerAttributes remote_server_attr_2;
remote_server_attr_2.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
remote_server_attr_2.metatrafficUnicastLocatorList.push_back(remote_server_locator_2);

// Configure the current participant as CLIENT connecting to the SERVERS at the previous locators
DomainParticipantQos client_qos;
client_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::CLIENT;
client_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_1);
client_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_2);
client_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_locator_1);
client_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_locator_2);
//!--
}

Expand All @@ -6378,6 +6337,7 @@ void dds_usecase_examples()
server_locator.port = 56543;

qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SERVER;
// Optional GUID
std::istringstream("75.63.2D.73.76.72.63.6C.6E.74.2D.31") >> qos.wire_protocol().prefix;
qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(server_locator);

Expand All @@ -6386,11 +6346,7 @@ void dds_usecase_examples()
IPLocator::setIPv4(remote_server_locator, "192.168.10.57");
remote_server_locator.port = 56542;

RemoteServerAttributes remote_server_attr;
remote_server_attr.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
remote_server_attr.metatrafficUnicastLocatorList.push_back(remote_server_locator);

qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr);
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_locator);
//!--
}

Expand All @@ -6404,6 +6360,7 @@ void dds_usecase_examples()
server_locator.port = 56541;

qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SERVER;
// Optional GUID
std::istringstream("75.63.2D.73.76.72.63.6C.6E.74.2D.33") >> qos.wire_protocol().prefix;
qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(server_locator);

Expand All @@ -6412,22 +6369,14 @@ void dds_usecase_examples()
IPLocator::setIPv4(remote_server_locator_A, "192.168.10.60");
remote_server_locator_A.port = 56543;

RemoteServerAttributes remote_server_attr_A;
remote_server_attr_A.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.31");
remote_server_attr_A.metatrafficUnicastLocatorList.push_back(remote_server_locator_A);

qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_A);
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_locator_A);

// Add the connection attributes to the remote server B.
Locator_t remote_server_locator_B;
IPLocator::setIPv4(remote_server_locator_B, "192.168.10.57");
remote_server_locator_B.port = 56542;

RemoteServerAttributes remote_server_attr_B;
remote_server_attr_B.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
remote_server_attr_B.metatrafficUnicastLocatorList.push_back(remote_server_locator_B);

qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_B);
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_locator_B);
//!--
}

Expand Down Expand Up @@ -7542,9 +7491,6 @@ void tcp_use_cases()
eprosima::fastdds::rtps::IPLocator::setPhysicalPort(listening_locator, tcp_listening_port);
eprosima::fastdds::rtps::IPLocator::setLogicalPort(listening_locator, tcp_listening_port);
qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(listening_locator);

// Set the GUID prefix to identify this server
std::istringstream("44.53.00.5f.45.50.52.4f.53.49.4d.41") >> qos.wire_protocol().prefix;
//!--
}

Expand All @@ -7568,15 +7514,8 @@ void tcp_use_cases()
eprosima::fastdds::rtps::IPLocator::setPhysicalPort(server_locator, server_port);
eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);

// Define the server attributes
eprosima::fastdds::rtps::RemoteServerAttributes remote_server_att;
remote_server_att.metatrafficUnicastLocatorList.push_back(server_locator);

// Set the GUID prefix to identify this server
std::istringstream("44.53.00.5f.45.50.52.4f.53.49.4d.41") >> remote_server_att.guidPrefix;

// Add the server
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
//!--
}
}
Expand Down
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