DiscoveryServerPublisher.cpp

// Copyright 2021 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 DiscoveryServerPublisher.cpp
 *
 */

#include "DiscoveryServerPublisher.h"

#include <csignal>
#include <thread>

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.hpp>
#include <fastdds/rtps/transport/TCPv4TransportDescriptor.hpp>
#include <fastdds/rtps/transport/TCPv6TransportDescriptor.hpp>
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.hpp>
#include <fastdds/rtps/transport/UDPv6TransportDescriptor.hpp>
#include <fastdds/utils/IPLocator.hpp>

using namespace eprosima::fastdds::dds;
using namespace eprosima::fastdds::rtps;

std::atomic<bool> HelloWorldPublisher::stop_(false);

HelloWorldPublisher::HelloWorldPublisher()
    : participant_(nullptr)
    , publisher_(nullptr)
    , topic_(nullptr)
    , writer_(nullptr)
    , type_(new HelloWorldPubSubType())
{
}

bool HelloWorldPublisher::is_stopped()
{
    return stop_;
}

void HelloWorldPublisher::stop()
{
    stop_ = true;
}

bool HelloWorldPublisher::init(
        const std::string& topic_name,
        const std::string& server_address,
        unsigned short server_port,
        TransportKind transport)
{
    hello_.index(0);
    hello_.message("HelloWorld");
    DomainParticipantQos pqos;
    pqos.name("DS-Client_pub");
    pqos.transport().use_builtin_transports = false;

    std::string ip_server_address(server_address);
    // Check if DNS is required
    if (!is_ip(server_address))
    {
        ip_server_address = get_ip_from_dns(server_address, transport);
    }

    if (ip_server_address.empty())
    {
        return false;
    }

    // Create DS SERVER locator
    eprosima::fastdds::rtps::Locator server_locator;
    eprosima::fastdds::rtps::IPLocator::setPhysicalPort(server_locator, server_port);

    std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface> descriptor;

    switch (transport)
    {
        case TransportKind::SHM:
            descriptor = std::make_shared<eprosima::fastdds::rtps::SharedMemTransportDescriptor>();
            server_locator.kind = LOCATOR_KIND_SHM;
            break;

        case TransportKind::UDPv4:
        {
            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
            descriptor = descriptor_tmp;

            server_locator.kind = LOCATOR_KIND_UDPv4;
            eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
            break;
        }

        case TransportKind::UDPv6:
        {
            auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::UDPv6TransportDescriptor>();
            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
            descriptor = descriptor_tmp;

            server_locator.kind = LOCATOR_KIND_UDPv6;
            eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
            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::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
            eprosima::fastdds::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::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
            if (eprosima::fastdds::rtps::IPLocator::isIPv6(ip_server_address))
            {
                eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
            }
            else
            {
                eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, "::1");
            }
            break;
        }

        default:
            break;
    }

    // Set participant as DS CLIENT
    pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
            eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;

    // Add remote SERVER to CLIENT's list of SERVERs
    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);

    // Add descriptor
    pqos.transport().user_transports.push_back(descriptor);

    // CREATE THE PARTICIPANT
    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos, &listener_);

    if (participant_ == nullptr)
    {
        return false;
    }

    std::cout <<
        "Publisher Participant " << pqos.name() <<
        " created with GUID " << participant_->guid() <<
        " connecting to server <" << server_locator  << "> " <<
        std::endl;

    // REGISTER THE TYPE
    type_.register_type(participant_);

    // CREATE THE PUBLISHER
    publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);

    if (publisher_ == nullptr)
    {
        return false;
    }

    // CREATE THE TOPIC
    topic_ = participant_->create_topic(topic_name, "HelloWorld", TOPIC_QOS_DEFAULT);

    if (topic_ == nullptr)
    {
        return false;
    }

    // CREATE THE WRITER
    DataWriterQos wqos = DATAWRITER_QOS_DEFAULT;
    writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);

    if (writer_ == nullptr)
    {
        return false;
    }
    return true;
}

HelloWorldPublisher::~HelloWorldPublisher()
{
    if (participant_ != nullptr)
    {
        if (publisher_ != nullptr)
        {
            if (writer_ != nullptr)
            {
                publisher_->delete_datawriter(writer_);
            }
            participant_->delete_publisher(publisher_);
        }
        if (topic_ != nullptr)
        {
            participant_->delete_topic(topic_);
        }
        DomainParticipantFactory::get_instance()->delete_participant(participant_);
    }
}

void HelloWorldPublisher::PubListener::on_publication_matched(
        eprosima::fastdds::dds::DataWriter*,
        const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        matched_ = info.current_count;
        std::cout << "Publisher matched." << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched_ = info.current_count;
        std::cout << "Publisher unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
    }
}

void HelloWorldPublisher::PubListener::on_participant_discovery(
        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
        eprosima::fastdds::rtps::ParticipantDiscoveryInfo&& info,
        bool& should_be_ignored)
{
    static_cast<void>(should_be_ignored);
    if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
    {
        std::cout << "Discovered Participant with GUID " << info.info.m_guid << std::endl;
    }
    else if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT ||
            info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
    {
        std::cout << "Dropped Participant with GUID " << info.info.m_guid << std::endl;
    }
}

void HelloWorldPublisher::runThread(
        uint32_t samples,
        uint32_t sleep)
{
    while (!is_stopped() && (samples == 0 || hello_.index() < samples))
    {
        publish();
        std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
                  << " SENT" << std::endl;
        std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
    }
}

void HelloWorldPublisher::run(
        uint32_t samples,
        uint32_t sleep)
{
    stop_ = false;
    std::thread thread(&HelloWorldPublisher::runThread, this, samples, sleep);
    if (samples == 0)
    {
        std::cout << "Publisher running. Please press CTRL+C to stop the Publisher at any time." << std::endl;
    }
    else
    {
        std::cout << "Publisher running " << samples <<
            " samples. Please press CTRL+C to stop the Publisher at any time." << std::endl;
    }
    signal(SIGINT, [](int signum)
            {
                std::cout << "SIGINT received, stopping Publisher execution." << std::endl;
                static_cast<void>(signum); HelloWorldPublisher::stop();
            });
    thread.join();
}

void HelloWorldPublisher::publish()
{
    hello_.index(hello_.index() + 1);
    writer_->write(&hello_);
}