Server Recording and Replaying feature added!

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "DDS-Pipe"]
+	path = DDS-Pipe
+	url = https://github.com/Ryan-Red/DDS-Pipe.git
+[submodule "Fast-DDS-python"]
+	path = Fast-DDS-python
+	url = https://github.com/eProsima/Fast-DDS-python.git
+[submodule "dev-utils"]
+	path = dev-utils
+	url = https://github.com/eProsima/dev-utils.git

README.md

@@ -1,38 +1,78 @@
-# eProsima DDS Record & Replay
+# eProsima DDS Record & Replay: Server Fork
 
-<a href="http://www.eprosima.com"><img src="https://encrypted-tbn3.gstatic.com/images?q=tbn:ANd9GcSd0PDlVz1U_7MgdTe0FRIWD0Jc9_YH-gGi0ZpLkr-qgCI6ZEoJZ5GBqQ" align="left" hspace="8" vspace="2" width="100" height="100" ></a>
+## Introduction
 
-[![License](https://img.shields.io/github/license/eProsima/DDS-Recorder.svg)](https://opensource.org/licenses/Apache-2.0)
-[![Issues](https://img.shields.io/github/issues/eProsima/DDS-Recorder.svg)](https://github.com/eProsima/DDS-Recorder/issues)
-[![Forks](https://img.shields.io/github/forks/eProsima/DDS-Recorder.svg)](https://github.com/eProsima/DDS-Recorder/network/members)
-[![Stars](https://img.shields.io/github/stars/eProsima/DDS-Recorder.svg)](https://github.com/eProsima/DDS-Recorder/stargazers)
-[![test](https://github.com/eProsima/DDS-Recorder/actions/workflows/test.yml/badge.svg)](https://github.com/eProsima/DDS-Recorder/actions/workflows/test.yml)
+This repo works similar to eProsima's DDS Record and Replay, the difference being that this fork is tailored to work with servers instead of simple discovery. 
 
-*eProsima DDS Record & Replay* is an end-user software application that efficiently saves DDS data published in a DDS environment into a MCAP format database.
-Thus, the exact playback of the recorded network events is possible as the data is linked to the timestamp at which the original data was published.
+## How It Works
 
-*eProsima DDS Record & Replay* is easily configurable and installed with a default setup, so that DDS topics, data types and entities are automatically discovered without the need to specify the types of data recorded.
-This is because the recording tool exploits the DynamicTypes functionality of [eProsima Fast DDS](https://fast-dds.docs.eprosima.com), the C++ implementation of the [DDS (Data Distribution Service) Specification](https://www.omg.org/spec/DDS/About-DDS/) defined by the [Object Management Group (OMG)](https://www.omg.org/).
+With DDS Record and Replay, you can record any topic on a given domain.
 
 
-## Documentation
+## How to Install
 
-You can access the documentation online, which is hosted on [Read the Docs](https://dds-recorder.readthedocs.io/).
+To install this repo, simply run the following after cloning this repo:
 
-* [Introduction](https://dds-recorder.readthedocs.io/en/latest/)
+```
+git clone https://github.com/Ryan-Red/DDS-Record-Replay.git
+git submodule init
+git submodule update --recursive
+sudo ./install_mcap_amd64.sh
+sudo ./install_dependencies.sh
+```
+All dependencies are installed in the install scripts. 
 
-**Recording application**
 
-* [Getting Started](https://dds-recorder.readthedocs.io/en/latest/rst/recording/getting_started/getting_started.html)
-* [Usage](https://dds-recorder.readthedocs.io/en/latest/rst/recording/usage/usage.html)
-* [Configuration](https://dds-recorder.readthedocs.io/en/latest/rst/recording/usage/configuration.html)
+**NOTE:** This MCAP install script uses the linux amd64 release, if using another architecture make sure to follow the same steps and find the right binary [here](https://github.com/foxglove/mcap/releases/)
 
-**Replay application**
+## Usage guide:
 
-* [Getting Started](https://dds-recorder.readthedocs.io/en/latest/rst/replaying/getting_started/getting_started.html)
-* [Usage](https://dds-recorder.readthedocs.io/en/latest/rst/replaying/usage/usage.html)
-* [Configuration](https://dds-recorder.readthedocs.io/en/latest/rst/replaying/usage/configuration.html)
+### DDSRecorder
 
-## Getting Help
+To record all topics on domain, simply run
 
-If you need support you can reach us by mail at `[email protected]` or by phone at `+34 91 804 34 48`.
+```
+ddsrecord -d DOMAIN
+```
+Where DOMAIN is the domain we are recording over. It should just be a number. The recording will be saved as an MCAP file. 
+
+The program should print out the topics being recorded and the domain currently being used as a sanity check.
+
+There is a maximum number of samples to record per topic of 50 000 000 samples. This means that when recording a topic publishing at 1000 Hz, you can record up to 50 000 seconds or 13 hours and 58 minutes. 
+
+#### Optional Configuration
+If for some reason you need to ignore certain topics, follow [this guide](https://dds-recorder.readthedocs.io/en/latest/rst/recording/usage/configuration.html) to create your configuration file.
+
+To run this configuration file while recording, run:
+
+```
+ddsrecord -d DOMAIN -c CONFIGURATION.yaml
+```
+Where DOMAIN is the domain we are recording on and CONFIGURATION.yaml is the configuration file.
+
+
+### DDSReplayer
+
+To replay a recording, **first make sure that the discovery servers are running!**
+
+Next, to replay a file simply run:
+
+```
+ddsreplayer -i FILE.mcap -d DOMAIN
+
+```
+Where FILE.mcap is the MCAP file we want to replay (that we previously recorded) and DOMAIN is the domain we are replaying on.
+
+**NOTE:** We can replay a topic on any domain, not just the one we recorded it on.
+
+#### Optional Configuration
+
+Just like the recorder, there are some extra configuration parameters. Follow [this guide](https://dds-recorder.readthedocs.io/en/latest/rst/replaying/usage/configuration.html) to learn how to create the configuration file.
+
+To run this configuration:
+
+```
+ddsreplayer -i FILE.mcap -d DOMAIN -c CONFIGURATION.yaml
+```
+
+Where FILE.mcap is the MCAP file we want to replay, DOMAIN is the domain we are recording on and CONFIGURATION.yaml is the configuration file.

ddsrecorder/src/cpp/main.cpp

@@ -14,7 +14,7 @@
 
 /**
  * @file main.cpp
- *
+
  */
 
 #include <nlohmann/json.hpp>
@@ -390,8 +390,12 @@ int main(
                 // NOTE: Changes to all (but controller specific) recorder configuration options are taken into account
                 configuration = eprosima::ddsrecorder::yaml::RecorderConfiguration(commandline_args.file_path);
 
+
+                // configuration.recorder_configuration->topic_qos.
+
                 // Create DDS Recorder
-                auto recorder = std::make_unique<DdsRecorder>(configuration, initial_state, close_handler);
+                auto recorder = std::make_unique<DdsRecorder>(configuration, initial_state, "", commandline_args.domain);
+
 
                 // Create File Watcher Handler
                 std::unique_ptr<eprosima::utils::event::FileWatcherHandler> file_watcher_handler;
@@ -524,7 +528,7 @@ int main(
         else
         {
             // Start recording right away
-            auto recorder = std::make_unique<DdsRecorder>(configuration, DdsRecorderState::RUNNING, close_handler);
+            auto recorder = std::make_unique<DdsRecorder>(configuration, DdsRecorderState::RUNNING, "", commandline_args.domain);
 
             // Create File Watcher Handler
             std::unique_ptr<eprosima::utils::event::FileWatcherHandler> file_watcher_handler;

ddsrecorder/src/cpp/tool/DdsRecorder.cpp

@@ -38,21 +38,13 @@ using namespace eprosima::utils;
 DdsRecorder::DdsRecorder(
         const yaml::RecorderConfiguration& configuration,
         const DdsRecorderStateCode& init_state,
-        const std::string& file_name)
-    : DdsRecorder(configuration, init_state, nullptr, file_name)
-{
-}
+        const std::string& file_name,
+        int domain)
 
-DdsRecorder::DdsRecorder(
-        const yaml::RecorderConfiguration& configuration,
-        const DdsRecorderStateCode& init_state,
-        std::shared_ptr<eprosima::utils::event::MultipleEventHandler> event_handler,
-        const std::string& file_name)
     : configuration_(configuration)
     , event_handler_(event_handler)
 {
     load_internal_topics_(configuration_);
-
     // Create Discovery Database
     discovery_database_ = std::make_shared<DiscoveryDatabase>();
 
@@ -121,6 +113,9 @@ DdsRecorder::DdsRecorder(
     mcap_handler_->set_on_disk_full_callback(std::bind(&DdsRecorder::on_disk_full, this));
 
     // Create DynTypes Participant
+
+    configuration_.simple_configuration->domain = domain;
+    std::cout << "Recording on domain: " << domain << std::endl;
     dyn_participant_ = std::make_shared<DynTypesParticipant>(
         configuration_.simple_configuration,
         payload_pool_,

ddsrecorder/src/cpp/tool/DdsRecorder.hpp

@@ -37,6 +37,8 @@
 
 #include <ddsrecorder_yaml/recorder/YamlReaderConfiguration.hpp>
 
+#include <yaml-cpp/yaml.h>
+
 namespace eprosima {
 namespace ddsrecorder {
 namespace recorder {
@@ -69,7 +71,8 @@ class DdsRecorder
     DdsRecorder(
             const yaml::RecorderConfiguration& configuration,
             const DdsRecorderStateCode& init_state,
-            const std::string& file_name = "");
+            const std::string& file_name = "",
+            int domain = 0);
 
     /**
      * DdsRecorder constructor by required values and event handler reference.

ddsrecorder/src/cpp/user_interface/arguments_configuration.cpp

@@ -103,6 +103,18 @@ const option::Descriptor usage[] = {
         "Value 0 does not reload file. [Default: 0]."
 
     },
+
+    {
+        optionIndex::DOMAIN,
+        0,
+        "d",
+        "reload-time",
+        Arg::Numeric,
+        "  -d \t--domain\t  \t" \
+        "Domain to target when recording or replaying "
+
+    },
+
     {
         optionIndex::TIMEOUT,
         0,
@@ -249,6 +261,11 @@ ProcessReturnCode parse_arguments(
                     commandline_args.reload_time = std::stol(opt.arg) * 1000; // pass to milliseconds
                     break;
 
+                case optionIndex::DOMAIN:
+                    commandline_args.domain = std::stoi(opt.arg);
+                    break;
+
+
                 case optionIndex::ACTIVATE_DEBUG:
                     commandline_args.log_filter[utils::VerbosityKind::Error].set_value("");
                     commandline_args.log_filter[utils::VerbosityKind::Warning].set_value("DDSRECORDER");

ddsrecorder/src/cpp/user_interface/arguments_configuration.hpp

@@ -95,6 +95,7 @@ enum optionIndex
     HELP,
     CONFIGURATION_FILE,
     RELOAD_TIME,
+    DOMAIN,
     ACTIVATE_DEBUG,
     VERSION,
     TIMEOUT,

ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp

@@ -139,8 +139,8 @@ void create_publisher(
 
     TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(test::dynamic_type_));
     // Set type so introspection info is sent
-    type->auto_fill_type_information(true);
-    type->auto_fill_type_object(false);
+    type->auto_fill_type_information(false);
+    type->auto_fill_type_object(true);
     // Register the type in the Participant
     participant_->register_type(type);
 

ddsrecorder_participants/include/ddsrecorder_participants/replayer/ReplayerParticipant.hpp

@@ -15,7 +15,7 @@
 #pragma once
 
 #include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
-#include <ddspipe_participants/participant/rtps/SimpleParticipant.hpp>
+#include <ddspipe_participants/participant/dds/CommonParticipant.hpp>
 
 #include <ddsrecorder_participants/library/library_dll.h>
 
@@ -27,7 +27,7 @@ namespace participants {
  * Participant kind in charge of replaying messages read by a \c McapReaderParticipant.
  * It is mostly equivalent to a \c rtps::SimpleParticipant without reader, only writer.
  */
-class ReplayerParticipant : public ddspipe::participants::rtps::SimpleParticipant
+class ReplayerParticipant : public ddspipe::participants::dds::CommonParticipant
 {
 public:
 

ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp

@@ -1166,13 +1166,9 @@ void McapHandler::store_dynamic_type_(
         const std::string& type_name,
         DynamicTypesCollection& dynamic_types) const
 {
-    const eprosima::fastrtps::types::TypeIdentifier* type_identifier = nullptr;
-    const eprosima::fastrtps::types::TypeObject* type_object = nullptr;
-    const eprosima::fastrtps::types::TypeInformation* type_information = nullptr;
-
-    type_information =
-            eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_information(type_name);
-    if (type_information != nullptr)
+    auto type_names = utils::get_keys(schemas_);
+    DynamicTypesCollection dynamic_types;
+    for (auto& type_name: type_names)
     {
         auto dependencies = type_information->complete().dependent_typeids();
         std::string dependency_name;
@@ -1192,16 +1188,14 @@ void McapHandler::store_dynamic_type_(
         }
     }
 
-    type_identifier = nullptr;
-    type_object = nullptr;
-
-    type_identifier = eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier(type_name,
-                    true);
-    if (type_identifier)
-    {
-        type_object =
-                eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_object(type_name, true);
-    }
+        type_identifier = eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier(type_name,
+                        true);
+        if (type_identifier)
+        {
+            type_object =
+                    eprosima::fastrtps::types::TypeObjectFactory::get_instance()->get_type_object(type_name, true);
+
+        }
 
     // If complete not found, try with minimal
     if (!type_object)

ddsrecorder_participants/src/cpp/replayer/ReplayerParticipant.cpp

@@ -22,13 +22,13 @@ namespace participants {
 
 using namespace eprosima::ddspipe::core;
 using namespace eprosima::ddspipe::participants;
-using namespace eprosima::ddspipe::participants::rtps;
+using namespace eprosima::ddspipe::participants::dds;
 
 ReplayerParticipant::ReplayerParticipant(
         const std::shared_ptr<SimpleParticipantConfiguration>& participant_configuration,
         const std::shared_ptr<PayloadPool>& payload_pool,
         const std::shared_ptr<DiscoveryDatabase>& discovery_database)
-    : SimpleParticipant(
+    : CommonParticipant(
         participant_configuration,
         payload_pool,
         discovery_database)

ddsrecordreplay.repos

@@ -2,24 +2,24 @@ repositories:
     foonathan_memory_vendor:
         type: git
         url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: master
+        version: v1.3.1
     fastcdr:
         type: git
         url: https://github.com/eProsima/Fast-CDR.git
-        version: master
+        version: v2.2.0
     fastdds:
         type: git
         url: https://github.com/eProsima/Fast-DDS.git
-        version: bugfix/complex-dynamic-types
+        version: v2.14.0
     dev-utils:
         type: git
         url: https://github.com/eProsima/dev-utils.git
-        version: main
+        version: v0.6.0
     ddspipe:
         type: git
         url: https://github.com/eProsima/DDS-Pipe.git
-        version: main
+        version: v0.4.0
     ddsrecordreplay:
         type: git
         url: https://github.com/eProsima/DDS-Record-Replay.git
-        version: main
+        version: v0.4.0

ddsreplayer/src/cpp/main.cpp

@@ -236,7 +236,7 @@ int main(
 
 
         // Create replayer instance
-        auto replayer = std::make_unique<DdsReplayer>(configuration, commandline_args.input_file);
+        auto replayer = std::make_unique<DdsReplayer>(configuration, commandline_args.input_file, commandline_args.domain);
 
         // Create File Watcher Handler
         std::unique_ptr<eprosima::utils::event::FileWatcherHandler> file_watcher_handler;