TCP support for Discovery server CLI and env var (#4097) (#4132)

* TCP support for Discovery server CLI and env var (#4097) * Refs #20021: TCP support for CLI Discovery server Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add TCP to Discovery Server Example Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: CLI: Add argument for TCP port and example Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add TCP support to environment variable Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Use autofill feature & check existing transports Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Update BlackboxTestsDiscovery for TCPv4/6 dns support Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Apply Revision's Suggestions Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add test for TCP single IP address & Fix DNS test Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add default TCP interface to CLI Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Uncrustify Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Update tests with new locator syntax & fix CLI Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Update Readme Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Fix warnings Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs 20021: Update versions.md Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> --------- Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> (cherry picked from commit 2653efb) # Conflicts: # versions.md * Fix Conflicts Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Uncrustify Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> --------- Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> Co-authored-by: Carlos Ferreira González <carlosferreira@eprosima.com> Co-authored-by: elianalf <62831776+elianalf@users.noreply.github.com>
eProsima · Dec 22, 2023 · ee4231e · ee4231e
1 parent f503db6
commit ee4231e
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Showing 15 changed files with 751 additions and 107 deletions.
diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.cpp
@@ -120,6 +120,34 @@ bool HelloWorldPublisher::init(
             break;
         }
 
+        case TransportKind::TCPv4:
+        {
+            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
+            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
+            // One listening port must be added either in the pub or the sub
+            descriptor_tmp->add_listener_port(0);
+            descriptor = descriptor_tmp;
+
+            server_locator.kind = LOCATOR_KIND_TCPv4;
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            break;
+        }
+
+        case TransportKind::TCPv6:
+        {
+            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv6TransportDescriptor>();
+            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
+            // One listening port must be added either in the pub or the sub
+            descriptor_tmp->add_listener_port(0);
+            descriptor = descriptor_tmp;
+
+            server_locator.kind = LOCATOR_KIND_TCPv6;
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            break;
+        }
+
         default:
             break;
     }

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.cpp
@@ -25,6 +25,8 @@
 #include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv6TransportDescriptor.h>
+#include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
+#include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
 #include <fastrtps/attributes/ParticipantAttributes.h>
 
 #include "DiscoveryServerServer.h"
@@ -136,6 +138,38 @@ bool DiscoveryServer::init(
             break;
         }
 
+        case TransportKind::TCPv4:
+        {
+            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
+            // descriptor_tmp->interfaceWhiteList.push_back(ip_listening_address);
+            descriptor_tmp->add_listener_port(server_port);
+            descriptor = descriptor_tmp;
+
+            listening_locator.kind = LOCATOR_KIND_TCPv4;
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(listening_locator, server_port);
+            eprosima::fastrtps::rtps::IPLocator::setIPv4(listening_locator, ip_listening_address);
+            connection_locator.kind = LOCATOR_KIND_TCPv4;
+            eprosima::fastrtps::rtps::IPLocator::setIPv4(connection_locator, ip_connection_address);
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(connection_locator, connection_server_port);
+            break;
+        }
+
+        case TransportKind::TCPv6:
+        {
+            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv6TransportDescriptor>();
+            // descriptor_tmp->interfaceWhiteList.push_back(ip_listening_address);
+            descriptor_tmp->add_listener_port(server_port);
+            descriptor = descriptor_tmp;
+
+            listening_locator.kind = LOCATOR_KIND_TCPv6;
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(listening_locator, server_port);
+            eprosima::fastrtps::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
+            connection_locator.kind = LOCATOR_KIND_TCPv6;
+            eprosima::fastrtps::rtps::IPLocator::setIPv6(connection_locator, ip_connection_address);
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(connection_locator, connection_server_port);
+            break;
+        }
+
         default:
             break;
     }

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerSubscriber.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServerSubscriber.cpp
@@ -29,6 +29,8 @@
 #include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv6TransportDescriptor.h>
+#include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
+#include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
 #include <fastrtps/attributes/ParticipantAttributes.h>
 #include <fastrtps/attributes/SubscriberAttributes.h>
 #include <fastrtps/utils/IPLocator.h>
@@ -121,6 +123,34 @@ bool HelloWorldSubscriber::init(
             break;
         }
 
+        case TransportKind::TCPv4:
+        {
+            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
+            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
+            // One listening port must be added either in the pub or the sub
+            descriptor_tmp->add_listener_port(0);
+            descriptor = descriptor_tmp;
+
+            server_locator.kind = LOCATOR_KIND_TCPv4;
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            break;
+        }
+
+        case TransportKind::TCPv6:
+        {
+            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv6TransportDescriptor>();
+            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
+            // One listening port must be added either in the pub or the sub
+            descriptor_tmp->add_listener_port(0);
+            descriptor = descriptor_tmp;
+
+            server_locator.kind = LOCATOR_KIND_TCPv6;
+            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            break;
+        }
+
         default:
             break;
     }

diff --git a/examples/cpp/dds/DiscoveryServerExample/DiscoveryServer_main.cpp b/examples/cpp/dds/DiscoveryServerExample/DiscoveryServer_main.cpp
@@ -173,9 +173,17 @@ int main(
                     {
                         transport = TransportKind::UDPv6;
                     }
+                    else if (transport_str == "tcpv4")
+                    {
+                        transport = TransportKind::TCPv4;
+                    }
+                    else if (transport_str == "tcpv6")
+                    {
+                        transport = TransportKind::TCPv6;
+                    }
                     else
                     {
-                        print_warning("udpv4|udpv6", opt.name);
+                        print_warning("udpv4|udpv6|tcpv4|tcpv6", opt.name);
                     }
 
                     break;

diff --git a/examples/cpp/dds/DiscoveryServerExample/README.md b/examples/cpp/dds/DiscoveryServerExample/README.md
@@ -33,8 +33,8 @@ Publisher options:
                     Server address (Default address: 127.0.0.1).
   -p <num>        --connection-port=<num>
                     Server listening port (Default port: 16166).
-                  --transport=<udpv4|udpv6>
-                    Use Transport Protocol [udpv4|udpv6] (Default: udpv4).
+                  --transport=<udpv4|udpv6|tcpv4|tcpv6>
+                    Use Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (Default: udpv4).
   -d <num>        --connection-discovery-server-id <num>
                     Id of the Discovery Server to connect with. GUID will be
                     calculated from id (Default: 0).
@@ -49,8 +49,8 @@ Subscriber options:
                     Server address (Default address: 127.0.0.1).
   -p <num>        --connection-port=<num>
                     Server listening port (Default port: 16166).
-                  --transport=<udpv4|udpv6>
-                    Use Transport Protocol [udpv4|udpv6] (Default: udpv4).
+                  --transport=<udpv4|udpv6|tcpv4|tcpv6>
+                    Use Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (Default: udpv4).
   -d <num>        --connection-discovery-server-id <num>
                     Id of the Discovery Server to connect with. GUID will be
                     calculated from id (Default: 0).
@@ -63,8 +63,8 @@ DiscoveryServer options:
                     GUID will be calculated from id (Default: 0).
                   --listening-port=<num>
                     Server listening port (Default port: 16166).
-                  --transport=<udpv4|udpv6>
-                    Use Transport Protocol [udpv4|udpv6] (Default: udpv4).
+                  --transport=<udpv4|udpv6|tcpv4|tcpv6>
+                    Use Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (Default: udpv4).
   -c <IPaddress>  --connection-address=<IPaddress>
                     Server address (Default address: 127.0.0.1).
   -p <num>        --connection-port=<num>

diff --git a/examples/cpp/dds/DiscoveryServerExample/arg_configuration.h b/examples/cpp/dds/DiscoveryServerExample/arg_configuration.h
@@ -140,7 +140,9 @@ struct Arg : public option::Arg
             if (
                 // transport == "shm" ||
                 transport == "udpv4" ||
-                transport == "udpv6"
+                transport == "udpv6" ||
+                transport == "tcpv4" ||
+                transport == "tcpv6"
                 )
             {
                 return option::ARG_OK;
@@ -235,7 +237,7 @@ const option::Descriptor usage[] = {
         "",
         "transport",
         Arg::Transport,
-        "  \t--transport <trans> \tUse Transport Protocol [udpv4|udpv6] (UDPv4 by default)."
+        "  \t--transport <trans> \tUse Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (UDPv4 by default)."
     },
     {
         CONNECTION_DISCOVERY_SERVER_ID,
@@ -287,7 +289,7 @@ const option::Descriptor usage[] = {
         "",
         "transport",
         Arg::Transport,
-        "  \t--transport <trans> \tUse Transport Protocol [udpv4|udpv6] (UDPv4 by default)."
+        "  \t--transport <trans> \tUse Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (UDPv4 by default)."
     },
     {
         CONNECTION_DISCOVERY_SERVER_ID,
@@ -331,7 +333,7 @@ const option::Descriptor usage[] = {
         "",
         "transport",
         Arg::Transport,
-        "  \t--transport <trans> \tUse Transport Protocol [udpv4|udpv6] (UDPv4 by default)."
+        "  \t--transport <trans> \tUse Transport Protocol [udpv4|udpv6|tcpv4|tcpv6] (UDPv4 by default)."
     },
     {
         CONNECTION_PORT,

diff --git a/examples/cpp/dds/DiscoveryServerExample/common.h b/examples/cpp/dds/DiscoveryServerExample/common.h
@@ -27,6 +27,8 @@ enum class TransportKind
 {
     UDPv4,
     UDPv6,
+    TCPv4,
+    TCPv6,
     SHM,
 };
 
@@ -56,7 +58,7 @@ inline std::string get_ip_from_dns(
     std::pair<std::set<std::string>, std::set<std::string>> dns_response =
             eprosima::fastrtps::rtps::IPLocator::resolveNameDNS(domain_name);
 
-    if (kind == TransportKind::UDPv4)
+    if (kind == TransportKind::UDPv4 || kind == TransportKind::TCPv4)
     {
         if (dns_response.first.empty())
         {
@@ -70,7 +72,7 @@ inline std::string get_ip_from_dns(
             return solution;
         }
     }
-    else if (kind == TransportKind::UDPv6)
+    else if (kind == TransportKind::UDPv6 || kind == TransportKind::TCPv6)
     {
         if (dns_response.second.empty())
         {

diff --git a/include/fastdds/rtps/attributes/ServerAttributes.h b/include/fastdds/rtps/attributes/ServerAttributes.h
@@ -159,10 +159,12 @@ std::basic_ostream<charT>& operator <<(
     return output;
 }
 
-// port use if the ros environment variable doesn't specified one
+// port used if the ros environment variable doesn't specify one
 constexpr uint16_t DEFAULT_ROS2_SERVER_PORT = 11811;
 // default server base guidPrefix
 const char* const DEFAULT_ROS2_SERVER_GUIDPREFIX = "44.53.00.5f.45.50.52.4f.53.49.4d.41";
+// port used by default for tcp transport
+constexpr uint16_t DEFAULT_TCP_SERVER_PORT = 42100;
 
 /* Environment variable to specify a semicolon-separated list of UDPv4 locators (ip:port) that define remote server
  * locators.

diff --git a/include/fastdds/rtps/common/Locator.h b/include/fastdds/rtps/common/Locator.h
@@ -371,7 +371,15 @@ inline std::ostream& operator <<(
     }
 
     // Stream port
-    output << "]:" << loc.port;
+    if (loc.kind == LOCATOR_KIND_TCPv4 || loc.kind == LOCATOR_KIND_TCPv6)
+    {
+        output << "]:" << std::to_string(IPLocator::getPhysicalPort(loc)) << "-" << std::to_string(IPLocator::getLogicalPort(
+                    loc));
+    }
+    else
+    {
+        output << "]:" << loc.port;
+    }
 
     return output;
 }

diff --git a/src/cpp/rtps/RTPSDomain.cpp b/src/cpp/rtps/RTPSDomain.cpp
@@ -35,6 +35,8 @@
 #include <rtps/transport/UDPv4Transport.h>
 #include <rtps/transport/UDPv6Transport.h>
 #include <rtps/transport/test_UDPv4Transport.h>
+#include <rtps/transport/TCPv4Transport.h>
+#include <rtps/transport/TCPv6Transport.h>
 
 #include <fastrtps/utils/IPFinder.h>
 #include <fastrtps/utils/IPLocator.h>
@@ -544,23 +546,95 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
     RemoteServerList_t& server_list = client_att.builtin.discovery_config.m_DiscoveryServers;
     if (load_environment_server_info(server_list) && server_list.empty())
     {
-        // it's not an error, the environment variable may not be set. Any issue with environment
+        // It's not an error, the environment variable may not be set. Any issue with environment
         // variable syntax is EPROSIMA_LOG_ERROR already
         return nullptr;
     }
 
-    // check if some server requires the UDPv6 transport
+    // Check if some server requires the UDPv6, TCPv4 or TCPv6 transport
     for (auto& server : server_list)
     {
         if (server.requires_transport<LOCATOR_KIND_UDPv6>())
         {
-            // extend builtin transports with the UDPv6 transport
+            // Extend builtin transports with the UDPv6 transport
             auto descriptor = std::make_shared<fastdds::rtps::UDPv6TransportDescriptor>();
             descriptor->sendBufferSize = client_att.sendSocketBufferSize;
             descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
             client_att.userTransports.push_back(std::move(descriptor));
             break;
         }
+        if (server.requires_transport<LOCATOR_KIND_TCPv4>())
+        {
+            // Check if a TCPv4 transport exists. Otherwise create it
+            fastdds::rtps::TCPTransportDescriptor* pT = nullptr;
+            std::shared_ptr<fastdds::rtps::TCPv4TransportDescriptor> p4;
+            bool no_tcpv4 = true;
+
+            for (auto sp : client_att.userTransports)
+            {
+                pT = dynamic_cast<fastdds::rtps::TCPTransportDescriptor*>(sp.get());
+
+                if (pT != nullptr)
+                {
+                    if (!p4)
+                    {
+                        if ((p4 = std::dynamic_pointer_cast<fastdds::rtps::TCPv4TransportDescriptor>(sp)))
+                        {
+                            // TCPv4 transport already exists
+                            no_tcpv4 = false;
+                            break;
+                        }
+                    }
+                }
+            }
+            if (no_tcpv4)
+            {
+                // Extend builtin transports with the TCPv4 transport
+                auto descriptor = std::make_shared<fastdds::rtps::TCPv4TransportDescriptor>();
+                // Add automatic port
+                descriptor->add_listener_port(0);
+                descriptor->sendBufferSize = client_att.sendSocketBufferSize;
+                descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
+                client_att.userTransports.push_back(std::move(descriptor));
+            }
+
+        }
+        if (server.requires_transport<LOCATOR_KIND_TCPv6>())
+        {
+            // Check if a TCPv6 transport exists. Otherwise create it
+            fastdds::rtps::TCPTransportDescriptor* pT = nullptr;
+            std::shared_ptr<fastdds::rtps::TCPv6TransportDescriptor> p6;
+            bool no_tcpv6 = true;
+
+            for (auto sp : client_att.userTransports)
+            {
+                pT = dynamic_cast<fastdds::rtps::TCPTransportDescriptor*>(sp.get());
+
+                if (pT != nullptr)
+                {
+                    if (!p6)
+                    {
+                        // try to find a descriptor matching the listener port setup
+                        if ((p6 = std::dynamic_pointer_cast<fastdds::rtps::TCPv6TransportDescriptor>(sp)))
+                        {
+                            // TCPv6 transport already exists
+                            no_tcpv6 = false;
+                            break;
+                        }
+                    }
+                }
+            }
+            if (no_tcpv6)
+            {
+                // Extend builtin transports with the TCPv6 transport
+                auto descriptor = std::make_shared<fastdds::rtps::TCPv6TransportDescriptor>();
+                // Add automatic port
+                descriptor->add_listener_port(0);
+                descriptor->sendBufferSize = client_att.sendSocketBufferSize;
+                descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
+                client_att.userTransports.push_back(std::move(descriptor));
+            }
+        }
     }
 
     EPROSIMA_LOG_INFO(DOMAIN, "Detected auto client-server environment variable."
@@ -579,13 +653,13 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
     RTPSParticipant* part = createParticipant(domain_id, enabled, client_att, listen);
     if (nullptr != part)
     {
-        // client successfully created
+        // Client successfully created
         EPROSIMA_LOG_INFO(DOMAIN, "Auto default server-client setup. Default client created.");
         part->mp_impl->client_override(true);
         return part;
     }
 
-    // unable to create auto server-client default participants
+    // Unable to create auto server-client default participants
     EPROSIMA_LOG_ERROR(DOMAIN, "Auto default server-client setup. Unable to create the client.");
     return nullptr;
 }