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Avoid using TopicAttributes for topic configuration (#100)
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* Refs #21357: Add new TopicDescriptionItem

Signed-off-by: Mario Dominguez <[email protected]>

* Refs #21357: Add new fill_topic_description_profile() method

Signed-off-by: Mario Dominguez <[email protected]>

* Refs #21357: Make DS register topic profiles

Signed-off-by: Mario Dominguez <[email protected]>

---------

Signed-off-by: Mario Dominguez <[email protected]>
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@Mario-DL
Mario-DL authored Jul 26, 2024
1 parent 0dad773 commit 40d8c97
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Showing 4 changed files with 145 additions and 26 deletions.
23 changes: 23 additions & 0 deletions include/DiscoveryItem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,29 @@ namespace discovery_server {

typedef fastdds::rtps::GUID_t GUID_t;

struct TopicDescriptionItem
{
TopicDescriptionItem()
{
name = "UNDEF";
type_name = "UNDEF";
}

TopicDescriptionItem(
const std::string& name,
const std::string& type_name)
: name(name)
, type_name(type_name)
{

}

~TopicDescriptionItem() = default;

std::string name;
std::string type_name;
};

//! common discovery info
struct DiscoveryItem
{
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9 changes: 8 additions & 1 deletion include/DiscoveryServerManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,9 @@ class DiscoveryServerManager
// Snapshops container
snapshots_list snapshots;

// Topic description profiles
std::map<std::string, TopicDescriptionItem> topic_description_profiles_map;

volatile bool no_callbacks; // ongoing participant destruction
bool auto_shutdown; // close when event processing is finished?
bool enable_prefix_validation; // allow multiple servers share the same prefix? (only for testing purposes)
Expand Down Expand Up @@ -315,7 +318,11 @@ class DiscoveryServerManager
}

// default topic
static TopicAttributes builtin_defaultTopic;
static TopicDescriptionItem default_topic_description;

static bool fill_topic_description_profile(
tinyxml2::XMLElement* elem,
TopicDescriptionItem& topic_description);

// parsing regex
static const std::regex ipv4_regular_expression;
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6 changes: 3 additions & 3 deletions include/LateJoiner.h
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Original file line number Diff line number Diff line change
Expand Up @@ -376,11 +376,11 @@ void DelayedEndpointCreation<ReaderWriter>::operator ()(
if (type_name == "UNDEF")
{
topic = manager.getParticipantTopicByName(part,
DiscoveryServerManager::builtin_defaultTopic.getTopicName().to_string());
DiscoveryServerManager::default_topic_description.name);
if ( nullptr == topic)
{
topic = part->create_topic(DiscoveryServerManager::builtin_defaultTopic.getTopicName().to_string(),
DiscoveryServerManager::builtin_defaultTopic.topicDataType.to_string(),
topic = part->create_topic(DiscoveryServerManager::default_topic_description.name,
DiscoveryServerManager::default_topic_description.type_name,
part->get_default_topic_qos());
manager.setParticipantTopic(part, topic);
}
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133 changes: 111 additions & 22 deletions src/DiscoveryServerManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ using namespace eprosima::discovery_server;
namespace eprosima {
namespace fastdds {
namespace DSxmlparser {
const char* DATA_TYPE = "dataType";
const char* PROFILES = "profiles";
const char* PROFILE_NAME = "profile_name";
const char* PREFIX = "prefix";
Expand All @@ -53,7 +54,7 @@ const char* TOPIC = "topic";
} // namespace eprosima

/*static members*/
TopicAttributes DiscoveryServerManager::builtin_defaultTopic("HelloWorldTopic", "HelloWorld");
TopicDescriptionItem DiscoveryServerManager::default_topic_description("HelloWorldTopic", "HelloWorld");
const std::regex DiscoveryServerManager::ipv4_regular_expression("^((?:[0-9]{1,3}\\.){3}[0-9]{1,3})?:?(?:(\\d+))?$");
const std::chrono::seconds DiscoveryServerManager::last_snapshot_delay_ = std::chrono::seconds(1);

Expand Down Expand Up @@ -122,6 +123,27 @@ DiscoveryServerManager::DiscoveryServerManager(
{
LOG_ERROR("Error parsing profiles!");
}

// Store Topic Profiles
tinyxml2::XMLElement* topic_profile = profiles->FirstChildElement(s_sTopic.c_str());
while (nullptr != topic_profile)
{
const char* topic_profile_name = topic_profile->Attribute(DSxmlparser::PROFILE_NAME);
if (topic_profile_name != nullptr)
{
auto topic_desc_it = topic_description_profiles_map.find(topic_profile_name);
if (topic_desc_it == topic_description_profiles_map.end())
{
auto &topic_desc = topic_description_profiles_map[topic_profile_name];
if (!fill_topic_description_profile(topic_profile, topic_desc))
{
LOG_ERROR("Error parsing topic profiles");
break;
}
}
}
topic_profile = topic_profile->NextSiblingElement(s_sTopic.c_str());
}
}

// Server processing requires a two pass analysis
Expand Down Expand Up @@ -681,6 +703,66 @@ Topic* DiscoveryServerManager::getParticipantTopicByName(
return returnTopic;
}

bool DiscoveryServerManager::fill_topic_description_profile(
tinyxml2::XMLElement* elem,
TopicDescriptionItem& topic_description)
{
/*
<xs:complexType name="topicDescriptionType">
<xs:all minOccurs="0">
<xs:element name="name" type="stringType" minOccurs="0"/>
<xs:element name="dataType" type="stringType" minOccurs="0"/>
</xs:all>
</xs:complexType>
*/

bool ret = true;
tinyxml2::XMLElement* p_aux0 = elem->FirstChildElement();
const char* name = nullptr;
for (; p_aux0 != NULL; p_aux0 = p_aux0->NextSiblingElement())
{
name = p_aux0->Name();

if (strcmp(name, DSxmlparser::NAME) == 0)
{
// name - stringType
const char* text = p_aux0->GetText();
if (nullptr != text)
{
topic_description.name = text;
}
else
{
LOG_ERROR("<" << p_aux0->Value() << "> GetText XML_ERROR");
ret = false;
break;
}
}
else if (strcmp(name, DSxmlparser::DATA_TYPE) == 0)
{
// dataType - stringType
const char* text = p_aux0->GetText();
if (nullptr != text)
{
topic_description.type_name = text;
}
else
{
LOG_ERROR("<" << p_aux0->Value() << "> GetText XML_ERROR");
ret = false;
break;
}
}
else
{
LOG_ERROR("Invalid element found into 'topicDescriptionType'. Name: " << name);
ret = false;
}
}

return ret;
}

void DiscoveryServerManager::onTerminate()
{
{
Expand Down Expand Up @@ -1302,14 +1384,19 @@ void DiscoveryServerManager::loadSubscriber(

// see if topic is specified
const char* topic_name = sub->Attribute(DSxmlparser::TOPIC);
TopicAttributes topicAttr;
TopicDescriptionItem topic_description;
if (topic_name != nullptr)
{
if (!eprosima::fastdds::rtps::RTPSDomain::get_topic_attributes_from_profile(std::string(
topic_name), topicAttr))
if (topic_name != nullptr)
{
LOG_ERROR("DiscoveryServerManager::loadSubscriber couldn't load topic profile ");
return;
try
{
topic_description = topic_description_profiles_map.at(topic_name);
}
catch (...)
{
LOG_ERROR("Topic " << topic_name << " not found in the topic description profiles");
}
}
}

Expand All @@ -1332,8 +1419,8 @@ void DiscoveryServerManager::loadSubscriber(
endpoint_profile = std::string(profile_name);
}

DelayedEndpointCreation<DataReader> event(creation_time, topicAttr.getTopicName().to_string(),
topicAttr.getTopicDataType().to_string(), topic_name, endpoint_profile, part_guid, pDE,
DelayedEndpointCreation<DataReader> event(creation_time, topic_description.name,
topic_description.type_name, topic_name, endpoint_profile, part_guid, pDE,
participant_creation_event);

if (creation_time == getTime())
Expand All @@ -1349,11 +1436,11 @@ void DiscoveryServerManager::loadSubscriber(

void DiscoveryServerManager::loadPublisher(
GUID_t& part_guid,
tinyxml2::XMLElement* sub,
tinyxml2::XMLElement* pub,
DelayedParticipantCreation* participant_creation_event /*= nullptr*/,
DelayedParticipantDestruction* participant_destruction_event /*= nullptr*/)
{
assert(sub != nullptr);
assert(pub != nullptr);

// check if we need to create an event
std::chrono::steady_clock::time_point creation_time, removal_time;
Expand Down Expand Up @@ -1382,15 +1469,15 @@ void DiscoveryServerManager::loadPublisher(
}

{
const char* creation_time_str = sub->Attribute(s_sCreationTime.c_str());
const char* creation_time_str = pub->Attribute(s_sCreationTime.c_str());
if (creation_time_str != nullptr)
{
int aux;
std::istringstream(creation_time_str) >> aux;
creation_time = getTime() + std::chrono::seconds(aux);
}

const char* removal_time_str = sub->Attribute(s_sRemovalTime.c_str());
const char* removal_time_str = pub->Attribute(s_sRemovalTime.c_str());
if (removal_time_str != nullptr)
{
int aux;
Expand All @@ -1401,22 +1488,24 @@ void DiscoveryServerManager::loadPublisher(

// data_readers are created for debugging purposes
// default topic is the static HelloWorld one
const char* profile_name = sub->Attribute(DSxmlparser::PROFILE_NAME);
const char* profile_name = pub->Attribute(DSxmlparser::PROFILE_NAME);

// see if topic is specified
const char* topic_name = sub->Attribute(DSxmlparser::TOPIC);
TopicAttributes topicAttr;
const char* topic_name = pub->Attribute(DSxmlparser::TOPIC);
TopicDescriptionItem topic_description;
if (topic_name != nullptr)
{
if (!eprosima::fastdds::rtps::RTPSDomain::get_topic_attributes_from_profile(std::string(
topic_name), topicAttr))
try
{
LOG_ERROR("DiscoveryServerManager::loadPublisher couldn't load topic profile ");
return;
topic_description = topic_description_profiles_map.at(topic_name);
}
catch (...)
{
LOG_ERROR("Topic " << topic_name << " not found in the topic description profiles");
}
}

DelayedEndpointDestruction<DataWriter>* pDE = nullptr; // subscriber destruction event
DelayedEndpointDestruction<DataWriter>* pDE = nullptr; // publisher destruction event

if (removal_time != getTime())
{
Expand All @@ -1436,8 +1525,8 @@ void DiscoveryServerManager::loadPublisher(
endpoint_profile = std::string(profile_name);
}

DelayedEndpointCreation<DataWriter> event(creation_time, topicAttr.getTopicName().to_string(),
topicAttr.getTopicDataType().to_string(), topic_name, endpoint_profile, part_guid, pDE,
DelayedEndpointCreation<DataWriter> event(creation_time, topic_description.name,
topic_description.type_name, topic_name, endpoint_profile, part_guid, pDE,
participant_creation_event);

if (creation_time == getTime())
Expand Down

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