Cease to periodically publish subscriptions/publications/topics to di…

…scovery. Instead publish them only when they're created/updated.

src/dds/pubsub.rs

@@ -11,7 +11,7 @@ use byteorder::LittleEndian;
 use log::{debug, error, info, trace, warn};
 
 use crate::{
-  create_error_dropped, create_error_poisoned,
+  create_error_dropped, create_error_internal, create_error_poisoned,
   dds::{
     adapters,
     key::Keyed,
@@ -51,7 +51,7 @@ use super::{
 };
 #[cfg(feature = "security")]
 use crate::{
-  create_error_internal, create_error_not_allowed_by_security,
+  create_error_not_allowed_by_security,
   security::{security_plugins::SecurityPluginsHandle, EndpointSecurityInfo},
 };
 #[cfg(not(feature = "security"))]
@@ -550,6 +550,8 @@ impl InnerPublisher {
       security_plugins: self.security_plugins_handle.clone(),
     };
 
+    // Send writer ingredients to DP event loop, where the actual writer will be
+    // constructed
     self
       .add_writer_sender
       .send(new_writer)
@@ -601,10 +603,36 @@ impl InnerPublisher {
       None
     };
 
+    // Update topic to DiscoveryDB & inform Discovery about it
     let dwd = DiscoveredWriterData::new(&data_writer, topic, &dp, security_info);
     db.update_local_topic_writer(dwd);
     db.update_topic_data_p(topic);
 
+    if let Err(e) = self.discovery_command.try_send(DiscoveryCommand::AddTopic {
+      topic_name: topic.name(),
+    }) {
+      // Log the error but don't quit, failing to inform Discovery about the topic
+      // shouldn't be that serious
+      error!(
+        "Failed send DiscoveryCommand::AddTopic about topic {}: {}",
+        topic.name(),
+        e
+      );
+    }
+
+    // Inform Discovery about the new writer
+    let writer_guid = self.domain_participant.guid().from_prefix(entity_id);
+    self
+      .discovery_command
+      .try_send(DiscoveryCommand::AddLocalWriter { guid: writer_guid })
+      .or_else(|e| {
+        create_error_internal!(
+          "Cannot inform Discovery about the new writer {writer_guid:?}. Error: {}",
+          e
+        )
+      })?;
+
+    // Return the DataWriter to user
     Ok(data_writer)
   }
 
@@ -1129,13 +1157,26 @@ impl InnerSubscriber {
       None
     };
 
+    // Update topic to DiscoveryDB & inform Discovery about it
     {
       let mut db = self
         .discovery_db
         .write()
         .or_else(|e| create_error_poisoned!("Cannot lock discovery_db. {}", e))?;
       db.update_local_topic_reader(&dp, topic, &new_reader, security_info);
       db.update_topic_data_p(topic);
+
+      if let Err(e) = self.discovery_command.try_send(DiscoveryCommand::AddTopic {
+        topic_name: topic.name(),
+      }) {
+        // Log the error but don't quit, failing to inform Discovery about the topic
+        // shouldn't be that serious
+        error!(
+          "Failed send DiscoveryCommand::AddTopic about topic {}: {}",
+          topic.name(),
+          e
+        );
+      }
     }
 
     let datareader = with_key::SimpleDataReader::<D, SA>::new(
@@ -1152,12 +1193,26 @@ impl InnerSubscriber {
       poll_event_source,
     )?;
 
-    // Return the DataReader Reader pairs to where they are used
+    // Send reader ingredients to DP event loop, where the actual reader will be
+    // constructed
     self
       .sender_add_reader
       .try_send(new_reader)
       .or_else(|e| create_error_poisoned!("Cannot add DataReader. Error: {}", e))?;
 
+    // Inform Discovery about the new reader
+    let reader_guid = self.domain_participant.guid().from_prefix(entity_id);
+    self
+      .discovery_command
+      .try_send(DiscoveryCommand::AddLocalReader { guid: reader_guid })
+      .or_else(|e| {
+        create_error_internal!(
+          "Cannot inform Discovery about the new reader {reader_guid:?}. Error: {}",
+          e
+        )
+      })?;
+
+    // Return the DataReader to user
     Ok(datareader)
   }