[16500] PDP endpoints refactor

include/fastdds/rtps/builtin/data/BuiltinEndpoints.hpp

@@ -0,0 +1,47 @@
+// Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file BuiltinEndpoints.hpp
+ */
+
+#ifndef FASTDDS_RTPS_BUILTIN_DATA__BUILTINENDPOINTS_HPP
+#define FASTDDS_RTPS_BUILTIN_DATA__BUILTINENDPOINTS_HPP
+
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER              (0x00000001 << 0)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR               (0x00000001 << 1)
+#define DISC_BUILTIN_ENDPOINT_PUBLICATION_ANNOUNCER              (0x00000001 << 2)
+#define DISC_BUILTIN_ENDPOINT_PUBLICATION_DETECTOR               (0x00000001 << 3)
+#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_ANNOUNCER             (0x00000001 << 4)
+#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_DETECTOR              (0x00000001 << 5)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_PROXY_ANNOUNCER        (0x00000001 << 6)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_PROXY_DETECTOR         (0x00000001 << 7)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_STATE_ANNOUNCER        (0x00000001 << 8)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_STATE_DETECTOR         (0x00000001 << 9)
+#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER         (0x00000001 << 10)
+#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_READER         (0x00000001 << 11)
+#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REQUEST_DATA_WRITER  (0x00000001 << 12)
+#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REQUEST_DATA_READER  (0x00000001 << 13)
+#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REPLY_DATA_WRITER    (0x00000001 << 14)
+#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REPLY_DATA_READER    (0x00000001 << 15)
+#define DISC_BUILTIN_ENDPOINT_PUBLICATION_SECURE_ANNOUNCER       (0x00000001 << 16)
+#define DISC_BUILTIN_ENDPOINT_PUBLICATION_SECURE_DETECTOR        (0x00000001 << 17)
+#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_SECURE_ANNOUNCER      (0x00000001 << 18)
+#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_SECURE_DETECTOR       (0x00000001 << 19)
+#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_DATA_WRITER  (0x00000001 << 20)
+#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_DATA_READER  (0x00000001 << 21)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_SECURE_ANNOUNCER       (0x00000001 << 26)
+#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_SECURE_DETECTOR        (0x00000001 << 27)
+
+#endif // FASTDDS_RTPS_BUILTIN_DATA__BUILTINENDPOINTS_HPP

include/fastdds/rtps/builtin/data/ParticipantProxyData.h

@@ -26,6 +26,7 @@
 #include <fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.hpp>
 #include <fastdds/rtps/attributes/WriterAttributes.h>
 #include <fastdds/rtps/attributes/ReaderAttributes.h>
+#include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
 #include <fastdds/rtps/common/Token.h>
 #include <fastdds/rtps/common/RemoteLocators.hpp>
 
@@ -38,31 +39,6 @@
 #define BUILTIN_PARTICIPANT_DATA_MAX_SIZE 100
 #define TYPELOOKUP_DATA_MAX_SIZE 5000
 
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER              (0x00000001 << 0)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR               (0x00000001 << 1)
-#define DISC_BUILTIN_ENDPOINT_PUBLICATION_ANNOUNCER              (0x00000001 << 2)
-#define DISC_BUILTIN_ENDPOINT_PUBLICATION_DETECTOR               (0x00000001 << 3)
-#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_ANNOUNCER             (0x00000001 << 4)
-#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_DETECTOR              (0x00000001 << 5)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_PROXY_ANNOUNCER        (0x00000001 << 6)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_PROXY_DETECTOR         (0x00000001 << 7)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_STATE_ANNOUNCER        (0x00000001 << 8)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_STATE_DETECTOR         (0x00000001 << 9)
-#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER         (0x00000001 << 10)
-#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_READER         (0x00000001 << 11)
-#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REQUEST_DATA_WRITER  (0x00000001 << 12)
-#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REQUEST_DATA_READER  (0x00000001 << 13)
-#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REPLY_DATA_WRITER    (0x00000001 << 14)
-#define BUILTIN_ENDPOINT_TYPELOOKUP_SERVICE_REPLY_DATA_READER    (0x00000001 << 15)
-#define DISC_BUILTIN_ENDPOINT_PUBLICATION_SECURE_ANNOUNCER       (0x00000001 << 16)
-#define DISC_BUILTIN_ENDPOINT_PUBLICATION_SECURE_DETECTOR        (0x00000001 << 17)
-#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_SECURE_ANNOUNCER      (0x00000001 << 18)
-#define DISC_BUILTIN_ENDPOINT_SUBSCRIPTION_SECURE_DETECTOR       (0x00000001 << 19)
-#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_DATA_WRITER  (0x00000001 << 20)
-#define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_DATA_READER  (0x00000001 << 21)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_SECURE_ANNOUNCER       (0x00000001 << 26)
-#define DISC_BUILTIN_ENDPOINT_PARTICIPANT_SECURE_DETECTOR        (0x00000001 << 27)
-
 namespace eprosima {
 namespace fastrtps {
 namespace rtps {

include/fastdds/rtps/builtin/discovery/participant/PDP.h

@@ -22,8 +22,9 @@
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
 #include <atomic>
-#include <mutex>
 #include <functional>
+#include <memory>
+#include <mutex>
 
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
 #include <fastdds/rtps/builtin/data/ReaderProxyData.h>
@@ -40,6 +41,7 @@ namespace fastdds {
 namespace rtps {
 
 class PDPServerListener;
+class PDPEndpoints;
 
 } // namespace rtps
 } // namespace fastdds
@@ -128,7 +130,7 @@ class PDP
     virtual void announceParticipantState(
             bool new_change,
             bool dispose = false,
-            WriteParams& wparams = WriteParams::WRITE_PARAM_DEFAULT);
+            WriteParams& wparams = WriteParams::WRITE_PARAM_DEFAULT) = 0;
 
     //!Stop the RTPSParticipantAnnouncement (only used in tests).
     virtual void stopParticipantAnnouncement();
@@ -384,10 +386,8 @@ class PDP
     RTPSParticipantImpl* mp_RTPSParticipant;
     //!Discovery attributes.
     BuiltinAttributes m_discovery;
-    //!Pointer to the PDPWriter.
-    RTPSWriter* mp_PDPWriter;
-    //!Pointer to the PDPReader.
-    RTPSReader* mp_PDPReader;
+    //!Builtin PDP endpoints
+    std::unique_ptr<fastdds::rtps::PDPEndpoints> builtin_endpoints_;
     //!Pointer to the EDP object.
     EDP* mp_EDP;
     //!Number of participant proxy data objects created
@@ -408,14 +408,6 @@ class PDP
     std::atomic_bool m_hasChangedLocalPDP;
     //!Listener for the SPDP messages.
     ReaderListener* mp_listener;
-    //!WriterHistory
-    WriterHistory* mp_PDPWriterHistory;
-    //!Writer payload pool
-    std::shared_ptr<ITopicPayloadPool> writer_payload_pool_;
-    //!Reader History
-    ReaderHistory* mp_PDPReaderHistory;
-    //!Reader payload pool
-    std::shared_ptr<ITopicPayloadPool> reader_payload_pool_;
     //! ProxyPool for temporary reader proxies
     ProxyPool<ReaderProxyData> temp_reader_proxies_;
     //! ProxyPool for temporary writer proxies
@@ -454,6 +446,26 @@ class PDP
             const GUID_t& participant_guid,
             InstanceHandle_t& key);
 
+    /**
+     * Force the sending of our local DPD to all remote RTPSParticipants and multicast Locators.
+     * @param writer RTPSWriter to use for sending the announcement
+     * @param history history where the change should be added
+     * @param new_change If true a new change (with new seqNum) is created and sent;If false the last change is re-sent
+     * @param dispose sets change kind to NOT_ALIVE_DISPOSED_UNREGISTERED
+     * @param wparams allows to identify the change
+     */
+    void announceParticipantState(
+            RTPSWriter& writer,
+            WriterHistory& history,
+            bool new_change,
+            bool dispose = false,
+            WriteParams& wparams = WriteParams::WRITE_PARAM_DEFAULT);
+
+    /**
+     * Called after creating the builtin endpoints to update the metatraffic unicast locators of BuiltinProtocols
+     */
+    virtual void update_builtin_locators() = 0;
+
 private:
 
     //!TimedEvent to periodically resend the local RTPSParticipant information.

include/fastdds/rtps/builtin/discovery/participant/PDPSimple.h

@@ -54,7 +54,8 @@ class PDPSimple : public PDP
      * @param part Pointer to the RTPSParticipant.
      * @return True on success
      */
-    bool init(RTPSParticipantImpl* part) override;
+    bool init(
+            RTPSParticipantImpl* part) override;
 
     /**
      * Creates an initializes a new participant proxy from a DATA(p) raw info
@@ -63,8 +64,8 @@ class PDPSimple : public PDP
      * @return new ParticipantProxyData * or nullptr on failure
      */
     ParticipantProxyData* createParticipantProxyData(
-        const ParticipantProxyData& p,
-        const GUID_t& writer_guid) override;
+            const ParticipantProxyData& p,
+            const GUID_t& writer_guid) override;
 
     /**
      * Some PDP classes require EDP matching with update PDP DATAs like EDPStatic
@@ -79,28 +80,31 @@ class PDPSimple : public PDP
      * @param wparams allows to identify the change
      */
     void announceParticipantState(
-        bool new_change,
-        bool dispose = false,
-        WriteParams& wparams = WriteParams::WRITE_PARAM_DEFAULT) override;
+            bool new_change,
+            bool dispose = false,
+            WriteParams& wparams = WriteParams::WRITE_PARAM_DEFAULT) override;
 
     /**
      * This method assigns remote endpoints to the builtin endpoints defined in this protocol. It also calls
      * the corresponding methods in EDP and WLP.
      * @param pdata Pointer to the ParticipantProxyData object.
      */
-    void assignRemoteEndpoints(ParticipantProxyData* pdata) override;
+    void assignRemoteEndpoints(
+            ParticipantProxyData* pdata) override;
 
     /**
      * Remove remote endpoints from the participant discovery protocol
      * @param pdata Pointer to the ParticipantProxyData to remove
      */
-    void removeRemoteEndpoints(ParticipantProxyData * pdata) override;
+    void removeRemoteEndpoints(
+            ParticipantProxyData* pdata) override;
 
     /**
      * This method notifies EDP and WLP of the existence of a new participant.
      * @param pdata
      */
-    void notifyAboveRemoteEndpoints(const ParticipantProxyData& pdata) override;
+    void notifyAboveRemoteEndpoints(
+            const ParticipantProxyData& pdata) override;
 
     /**
      * Activate a new Remote Endpoint that has been statically discovered.
@@ -113,10 +117,12 @@ class PDPSimple : public PDP
             int16_t userDefinedId,
             EndpointKind_t kind);
 
+    void update_builtin_locators() override;
 
 private:
 
-    void initializeParticipantProxyData(ParticipantProxyData* participant_data) override;
+    void initializeParticipantProxyData(
+            ParticipantProxyData* participant_data) override;
 
     /**
      * Create the SPDP Writer and Reader
@@ -130,5 +136,5 @@ class PDPSimple : public PDP
 } /* namespace fastrtps */
 } /* namespace eprosima */
 
-#endif
+#endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 #endif //_FASTDDS_RTPS_BUILTIN_DISCOVERY_PARTICIPANT_PDPSIMPLE_H_

src/cpp/rtps/builtin/BuiltinReader.hpp

@@ -0,0 +1,84 @@
+// Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file BuiltinReader.hpp
+ */
+
+#ifndef RTPS_BUILTIN__BUILTINREADER_HPP_
+#define RTPS_BUILTIN__BUILTINREADER_HPP_
+
+#include <memory>
+
+#include <fastdds/rtps/history/ReaderHistory.h>
+
+#include <rtps/history/ITopicPayloadPool.h>
+#include <rtps/history/PoolConfig.h>
+
+namespace eprosima {
+namespace fastdds {
+namespace rtps {
+
+/**
+ * Keeps data of a builtin reader
+ */
+template<typename TReader>
+struct BuiltinReader
+{
+    ~BuiltinReader()
+    {
+        release();
+    }
+
+    void release()
+    {
+        if (history_)
+        {
+            auto cfg = fastrtps::rtps::PoolConfig::from_history_attributes(history_->m_att);
+            history_.reset();
+            if (payload_pool_)
+            {
+                payload_pool_->release_history(cfg, true);
+            }
+        }
+    }
+
+    void remove_from_history(
+            const fastrtps::rtps::InstanceHandle_t& key)
+    {
+        history_->getMutex()->lock();
+        for (auto it = history_->changesBegin(); it != history_->changesEnd(); ++it)
+        {
+            if ((*it)->instanceHandle == key)
+            {
+                history_->remove_change(*it);
+                break;
+            }
+        }
+        history_->getMutex()->unlock();
+    }
+
+    //! Payload pool for the topic
+    std::shared_ptr<fastrtps::rtps::ITopicPayloadPool> payload_pool_;
+    //! History for the builtin reader
+    std::unique_ptr<fastrtps::rtps::ReaderHistory> history_;
+    //! Builtin RTPS reader
+    TReader* reader_ = nullptr;
+};
+
+} // namespace rtps
+} // namespace fastdds
+} // namespace eprosima
+
+#endif  // RTPS_BUILTIN__BUILTINREADER_HPP_