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Add tests for TypeLookup service (#4339)
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* Refs #20165: Created basic communication

Signed-off-by: adriancampo <adriancampo@eprosima.com>

rebased

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Changes to work with multiple types

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Renamed discovery methods. Improved typelookup tests.

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Added check_registered_type. Created idl file for each type.

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Changed type creation.

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Added all types.

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Fixes for TypeBig.

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* Refs #20165: Fixes for json files.

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* Refs #20165: Removed code for debug.

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* Refs #20165: Created unittest

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Implemented unittests. Added Case0 for no TypeObject

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* Refs #20165: Removed sending and receiving samples

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* Refs #20165: Removed descriptions from json tests case files

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* Refs #20165: Added communication with dynamic types.

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* Refs #20165: Fixed Log macro namespace. And TypeObjectRegistry::register_type_object.

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* Refs #20165: Fix for type with no TypeObject.

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165: Update TypeLookupManager mock.

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* Refs #20165: Added testing for dds-types-tests.

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* Refs #20165: Changed TypeObject consistency checks when typelookup service registers types. Fix for indirect hash typeidentifiers.

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* Refs #20165: Fix for modules in update_header_and_create_cases.py. Ignored relative_paths idl

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* Refs #20165: Reduced number of Cases.json files.

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* Refs #20165: Fix for modules.

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* Refs #20165: Changes to use take method. Fixed bug with get_map_dependencies.

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* Refs #20165: Removed willdcards from cmake.

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* Refs #20165: Updated types.

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* Refs #20165: Fix for custom annotations name hash.

Signed-off-by: adriancampo <adriancampo@eprosima.com>

* Refs #20165. Return typelookupservice unit tests

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fix for future rebase

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Improve tests

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fix typelookupservice builin endpoing discovery

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Removed member_id testing

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fix and improve tests

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Apply suggestions from code review

* Refs #20165. Fix identation

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fix compilation error in mac

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* Refs #20165. Fix compilation errors

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* Refs #20165. Remove trace

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fixes on windows

Signed-off-by: Ricardo González <ricardo@richiware.dev>

* Refs #20165. Fixes after rebase

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fixes on mac

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fixes asan

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Apply suggestions

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Fix minimal type_id built

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #20165. Apply suggestions

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* Refs #20165. Apply suggestions

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

---------

Signed-off-by: adriancampo <adriancampo@eprosima.com>
Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>
Signed-off-by: Ricardo González <ricardo@richiware.dev>
Co-authored-by: Ricardo González Moreno <ricardo@richiware.dev>
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adriancampo and richiware authored Sep 25, 2024
1 parent 0bf7481 commit 309ae6f
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Showing 120 changed files with 90,461 additions and 3,182 deletions.
9 changes: 5 additions & 4 deletions src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -365,7 +365,7 @@ ReturnCode_t TypeLookupManager::check_type_identifier_received(
is_type_identifier_known(type_identifier_with_size))
{
// The type is already known, invoke the callback
callback(temp_proxy_data.get());
callback(RETCODE_OK, temp_proxy_data.get());
return RETCODE_OK;
}

Expand Down Expand Up @@ -408,7 +408,8 @@ ReturnCode_t TypeLookupManager::check_type_identifier_received(
}

void TypeLookupManager::notify_callbacks(
xtypes::TypeIdentfierWithSize type_identifier_with_size)
ReturnCode_t request_ret_status,
const xtypes::TypeIdentfierWithSize& type_identifier_with_size)
{
bool removed = false;
// Check that type is pending to be resolved
Expand All @@ -417,7 +418,7 @@ void TypeLookupManager::notify_callbacks(
{
for (auto& proxy_callback_pair : writer_callbacks_it->second)
{
proxy_callback_pair.second(proxy_callback_pair.first);
proxy_callback_pair.second(request_ret_status, proxy_callback_pair.first);
}
removed = true;
}
Expand All @@ -427,7 +428,7 @@ void TypeLookupManager::notify_callbacks(
{
for (auto& proxy_callback_pair : reader_callbacks_it->second)
{
proxy_callback_pair.second(proxy_callback_pair.first);
proxy_callback_pair.second(request_ret_status, proxy_callback_pair.first);
}
removed = true;
}
Expand Down
7 changes: 4 additions & 3 deletions src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,9 +105,9 @@ namespace builtin {
const SampleIdentity INVALID_SAMPLE_IDENTITY;

using AsyncGetTypeWriterCallback = std::function<
void (eprosima::fastdds::rtps::WriterProxyData*)>;
void (eprosima::fastdds::dds::ReturnCode_t, eprosima::fastdds::rtps::WriterProxyData*)>;
using AsyncGetTypeReaderCallback = std::function<
void (eprosima::fastdds::rtps::ReaderProxyData*)>;
void (eprosima::fastdds::dds::ReturnCode_t, eprosima::fastdds::rtps::ReaderProxyData*)>;

/**
* Class TypeLookupManager that implements the TypeLookup Service described in the DDS-XTYPES 1.3 specification.
Expand Down Expand Up @@ -229,7 +229,8 @@ class TypeLookupManager
* @param type_identifier_with_size[in] TypeIdentfierWithSize of the callbacks to notify.
*/
void notify_callbacks(
xtypes::TypeIdentfierWithSize type_identifier_with_size);
ReturnCode_t request_ret_status,
const xtypes::TypeIdentfierWithSize& type_identifier_with_size);

/**
* Adds a callback to the async_get_type_callbacks_ entry of the TypeIdentfierWithSize, or creates a new one if
Expand Down
83 changes: 53 additions & 30 deletions src/cpp/fastdds/builtin/type_lookup_service/TypeLookupReplyListener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
*/

#include <fastdds/builtin/type_lookup_service/TypeLookupReplyListener.hpp>

#include <fastdds/dds/log/Log.hpp>

#include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
Expand Down Expand Up @@ -101,21 +100,43 @@ void TypeLookupReplyListener::process_reply()
if (!replies_queue_.empty())
{
TypeLookup_Reply& reply = replies_queue_.front().reply;

// Check if the received reply SampleIdentity corresponds to an outstanding request
auto& request_id {reply.header().relatedRequestId()};
auto request_it = typelookup_manager_->async_get_type_requests_.find(request_id);
if (request_it != typelookup_manager_->async_get_type_requests_.end())
{
xtypes::TypeIdentfierWithSize type_id {request_it->second};
// Process the TypeLookup_Reply based on its type
switch (reply.return_value()._d())
{
case TypeLookup_getTypes_HashId:
{
check_get_types_reply(reply.header().relatedRequestId(),
reply.return_value().getType().result(), reply.header().relatedRequestId());
if (RETCODE_OK == reply.return_value().getType()._d())
{
check_get_types_reply(request_id, type_id,
reply.return_value().getType().result(), reply.header().relatedRequestId());
}
else
{
typelookup_manager_->notify_callbacks(RETCODE_NO_DATA, type_id);
typelookup_manager_->remove_async_get_type_request(request_id);
}
break;
}
case TypeLookup_getDependencies_HashId:
{
check_get_type_dependencies_reply(
reply.header().relatedRequestId(), replies_queue_.front().type_server,
reply.return_value().getTypeDependencies().result());
if (RETCODE_OK == reply.return_value().getTypeDependencies()._d())
{
check_get_type_dependencies_reply(
request_id, type_id, replies_queue_.front().type_server,
reply.return_value().getTypeDependencies().result());
}
else
{
typelookup_manager_->notify_callbacks(RETCODE_NO_DATA, type_id);
typelookup_manager_->remove_async_get_type_request(request_id);
}
break;
}
default:
Expand All @@ -133,14 +154,14 @@ void TypeLookupReplyListener::process_reply()

void TypeLookupReplyListener::check_get_types_reply(
const SampleIdentity& request_id,
const xtypes::TypeIdentfierWithSize& type_id,
const TypeLookup_getTypes_Out& reply,
SampleIdentity related_request)
{
// Check if the received reply SampleIdentity corresponds to an outstanding request
auto requests_it = typelookup_manager_->async_get_type_requests_.find(request_id);
if (requests_it != typelookup_manager_->async_get_type_requests_.end())
ReturnCode_t register_result = RETCODE_OK;

if (0 != reply.types().size())
{
ReturnCode_t register_result = RETCODE_OK;
for (xtypes::TypeIdentifierTypeObjectPair pair : reply.types())
{
xtypes::TypeIdentifierPair type_ids;
Expand All @@ -150,7 +171,7 @@ void TypeLookupReplyListener::check_get_types_reply(
{
// If any of the types is not registered, log error
EPROSIMA_LOG_WARNING(TYPELOOKUP_SERVICE_REPLY_LISTENER,
"Error registering remote type");
"Error registering remote type.");
register_result = RETCODE_ERROR;
}
}
Expand All @@ -159,7 +180,8 @@ void TypeLookupReplyListener::check_get_types_reply(
{
// Check if the get_type_dependencies related to this reply required a continuation_point
std::unique_lock<std::mutex> guard(replies_with_continuation_mutex_);
auto it = std::find(replies_with_continuation_.begin(), replies_with_continuation_.end(), related_request);
auto it = std::find(replies_with_continuation_.begin(),
replies_with_continuation_.end(), related_request);
if (it != replies_with_continuation_.end())
{
// If it did, remove it from the list and continue
Expand All @@ -173,17 +195,18 @@ void TypeLookupReplyListener::check_get_types_reply(
{
xtypes::TypeObject type_object;
fastdds::rtps::RTPSDomainImpl::get_instance()->type_object_registry_observer().get_type_object(
requests_it->second.type_id(), type_object);
type_id.type_id(), type_object);
xtypes::TypeObjectUtils::type_object_consistency(type_object);
xtypes::TypeIdentifierPair type_ids;
if (RETCODE_OK != fastdds::rtps::RTPSDomainImpl::get_instance()->type_object_registry_observer().
if (RETCODE_OK !=
fastdds::rtps::RTPSDomainImpl::get_instance()->type_object_registry_observer().
register_type_object(type_object, type_ids, true))
{
EPROSIMA_LOG_WARNING(TYPELOOKUP_SERVICE_REPLY_LISTENER,
"Cannot register minimal of remote type");
}

typelookup_manager_->notify_callbacks(requests_it->second);
typelookup_manager_->notify_callbacks(RETCODE_OK, type_id);
}
catch (const std::exception& exception)
{
Expand All @@ -192,25 +215,25 @@ void TypeLookupReplyListener::check_get_types_reply(
}
}
}

// Remove the processed SampleIdentity from the outstanding requests
typelookup_manager_->remove_async_get_type_request(request_id);
}
else
{
typelookup_manager_->notify_callbacks(RETCODE_NO_DATA, type_id);
EPROSIMA_LOG_WARNING(TYPELOOKUP_SERVICE_REPLY_LISTENER,
"Received reply with no types.");
register_result = RETCODE_ERROR;
}

// Remove the processed SampleIdentity from the outstanding requests
typelookup_manager_->remove_async_get_type_request(request_id);
}

void TypeLookupReplyListener::check_get_type_dependencies_reply(
const SampleIdentity& request_id,
const xtypes::TypeIdentfierWithSize& type_id,
const fastdds::rtps::GUID_t type_server,
const TypeLookup_getTypeDependencies_Out& reply)
{
// Check if the received reply SampleIdentity corresponds to an outstanding request
auto requests_it = typelookup_manager_->async_get_type_requests_.find(request_id);
if (requests_it == typelookup_manager_->async_get_type_requests_.end())
{
// The reply is not associated with any outstanding request, ignore it
return;
}

// Add the dependent types to the list for the get_type request
xtypes::TypeIdentifierSeq needed_types;
std::unordered_set<xtypes::TypeIdentifier> unique_types;
Expand All @@ -234,18 +257,18 @@ void TypeLookupReplyListener::check_get_type_dependencies_reply(
// If there is no continuation point, add the parent type
if (reply.continuation_point().empty())
{
needed_types.push_back(requests_it->second.type_id());
needed_types.push_back(type_id.type_id());
}
// Make a new request with the continuation point
else
{
SampleIdentity next_request_id = typelookup_manager_->
get_type_dependencies({requests_it->second.type_id()}, type_server,
get_type_dependencies({type_id.type_id()}, type_server,
reply.continuation_point());
if (INVALID_SAMPLE_IDENTITY != next_request_id)
{
// Store the sent requests and associated TypeIdentfierWithSize
typelookup_manager_->add_async_get_type_request(next_request_id, requests_it->second);
typelookup_manager_->add_async_get_type_request(next_request_id, type_id);
}
else
{
Expand All @@ -260,7 +283,7 @@ void TypeLookupReplyListener::check_get_type_dependencies_reply(
if (INVALID_SAMPLE_IDENTITY != get_types_request)
{
// Store the type request
typelookup_manager_->add_async_get_type_request(get_types_request, requests_it->second);
typelookup_manager_->add_async_get_type_request(get_types_request, type_id);

// If this get_types request has a continuation_point, store it in the list
if (!reply.continuation_point().empty())
Expand Down
2 changes: 2 additions & 0 deletions src/cpp/fastdds/builtin/type_lookup_service/TypeLookupReplyListener.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,7 @@ class TypeLookupReplyListener : public fastdds::rtps::ReaderListener, public fas
*/
void check_get_types_reply(
const SampleIdentity& request_id,
const xtypes::TypeIdentfierWithSize& type_id,
const TypeLookup_getTypes_Out& reply,
SampleIdentity related_request);

Expand All @@ -114,6 +115,7 @@ class TypeLookupReplyListener : public fastdds::rtps::ReaderListener, public fas
*/
void check_get_type_dependencies_reply(
const SampleIdentity& request_id,
const xtypes::TypeIdentfierWithSize& type_id,
const fastdds::rtps::GUID_t type_server,
const TypeLookup_getTypeDependencies_Out& reply);

Expand Down
24 changes: 19 additions & 5 deletions src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -207,6 +207,12 @@ void TypeLookupRequestListener::check_get_types_request(
xtypes::TypeIdentifier complete_id;
xtypes::TypeIdentifier minimal_id;

if (0 == request.type_ids().size())
{
EPROSIMA_LOG_WARNING(TYPELOOKUP_SERVICE_REQUEST_LISTENER,
"Received request with no type identifiers.");
}

// Iterate through requested type_ids
for (const xtypes::TypeIdentifier& type_id : request.type_ids())
{
Expand Down Expand Up @@ -280,19 +286,19 @@ void TypeLookupRequestListener::check_get_type_dependencies_request(
SampleIdentity request_id,
const TypeLookup_getTypeDependencies_In& request)
{
std::unordered_set<xtypes::TypeIdentfierWithSize>* type_dependencies_ptr {nullptr};
std::unordered_set<xtypes::TypeIdentfierWithSize> type_dependencies;
ReturnCode_t type_dependencies_result = RETCODE_ERROR;
if (!request.type_ids().empty())
{
// Check if the received request has been done before and needed a continuation point
std::lock_guard<std::mutex> lock(requests_with_continuation_mutex_);
if (!request.continuation_point().empty())
{
auto requests_it = requests_with_continuation_.find(request.type_ids());
if (requests_it != requests_with_continuation_.end())
{
// Get the dependencies without checking the registry
type_dependencies = requests_it->second;
type_dependencies_ptr = &requests_it->second;
type_dependencies_result = RETCODE_OK;
}
else
Expand All @@ -313,17 +319,26 @@ void TypeLookupRequestListener::check_get_type_dependencies_request(
// If there are too many dependent types, store the type dependencies for future requests
if (type_dependencies_result == RETCODE_OK && type_dependencies.size() > MAX_DEPENDENCIES_PER_REPLY)
{
requests_with_continuation_.emplace(request.type_ids(), type_dependencies);
auto ret = requests_with_continuation_.emplace(request.type_ids(), std::move(type_dependencies));
type_dependencies_ptr = &ret.first->second;
}
else
{
type_dependencies_ptr = &type_dependencies;
}
}
}
else
{
EPROSIMA_LOG_WARNING(TYPELOOKUP_SERVICE_REQUEST_LISTENER, "Type dependencies request is empty.");
}

// Handle the result based on the type_dependencies_result
if (RETCODE_OK == type_dependencies_result)
{
// Prepare and send the reply for successful operation
TypeLookup_getTypeDependencies_Out out = prepare_get_type_dependencies_response(
request.type_ids(), type_dependencies, request.continuation_point());
request.type_ids(), *type_dependencies_ptr, request.continuation_point());
answer_request(request_id, rpc::RemoteExceptionCode_t::REMOTE_EX_OK, out);
}
else if (RETCODE_NO_DATA == type_dependencies_result)
Expand Down Expand Up @@ -378,7 +393,6 @@ TypeLookup_getTypeDependencies_Out TypeLookupRequestListener::prepare_get_type_d
if ((start_index + MAX_DEPENDENCIES_PER_REPLY) > type_dependencies.size())
{
// If all dependent types have been sent, remove from map
std::lock_guard<std::mutex> lock(requests_with_continuation_mutex_);
auto requests_it = requests_with_continuation_.find(id_seq);
if (requests_it != requests_with_continuation_.end())
{
Expand Down
3 changes: 0 additions & 3 deletions src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -176,9 +176,6 @@ class TypeLookupRequestListener : public fastdds::rtps::ReaderListener, public f
//! A pointer to the typelookup manager.
TypeLookupManager* typelookup_manager_;

//! Mutex to protect access to requests_with_continuation_.
std::mutex requests_with_continuation_mutex_;

//! Collection of the requests that needed continuation points.
std::unordered_map<xtypes::TypeIdentifierSeq, std::unordered_set<xtypes::TypeIdentfierWithSize>>
requests_with_continuation_;
Expand Down
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