DiscoveryServerSubscriber.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 DiscoveryServerSubscriber.cpp
 *
 */

#include "DiscoveryServerSubscriber.h"

#include <condition_variable>
#include <csignal>
#include <mutex>

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.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> HelloWorldSubscriber::stop_(false);
std::mutex HelloWorldSubscriber::terminate_cv_mtx_;
std::condition_variable HelloWorldSubscriber::terminate_cv_;

HelloWorldSubscriber::HelloWorldSubscriber()
    : participant_(nullptr)
    , subscriber_(nullptr)
    , topic_(nullptr)
    , reader_(nullptr)
    , type_(new HelloWorldPubSubType())
{
}

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

void HelloWorldSubscriber::stop()
{
    stop_ = true;
    terminate_cv_.notify_all();
}

bool HelloWorldSubscriber::init(
        const std::string& topic_name,
        uint32_t max_messages,
        const std::string& server_address,
        unsigned short server_port,
        TransportKind transport)
{
    DomainParticipantQos pqos;
    pqos.name("DS-Client_sub");
    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_,
                    StatusMask::all() >> StatusMask::data_on_readers());

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

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

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

    // CREATE THE SUBSCRIBER
    subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT, nullptr);

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

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

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

    // CREATE THE READER
    if (max_messages > 0)
    {
        listener_.set_max_messages(max_messages);
    }
    DataReaderQos rqos = DATAREADER_QOS_DEFAULT;
    reader_ = subscriber_->create_datareader(topic_, rqos, &listener_);

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

    return true;
}

HelloWorldSubscriber::~HelloWorldSubscriber()
{
    if (participant_ != nullptr)
    {
        if (topic_ != nullptr)
        {
            participant_->delete_topic(topic_);
        }
        if (subscriber_ != nullptr)
        {
            if (reader_ != nullptr)
            {
                subscriber_->delete_datareader(reader_);
            }
            participant_->delete_subscriber(subscriber_);
        }
        DomainParticipantFactory::get_instance()->delete_participant(participant_);
    }
}

void HelloWorldSubscriber::SubListener::set_max_messages(
        uint32_t max_messages)
{
    max_messages_ = max_messages;
}

void HelloWorldSubscriber::SubListener::on_subscription_matched(
        DataReader*,
        const SubscriptionMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        matched_ = info.current_count;
        std::cout << "Subscriber matched." << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched_ = info.current_count;
        std::cout << "Subscriber unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
    }
}

void HelloWorldSubscriber::SubListener::on_data_available(
        DataReader* reader)
{
    SampleInfo info;
    while ((reader->take_next_sample(&hello_, &info) == RETCODE_OK) && !is_stopped())
    {
        if (info.instance_state == ALIVE_INSTANCE_STATE)
        {
            samples_++;
            // Print your structure data here.
            std::cout << "Message " << hello_.message() << " " << hello_.index() << " RECEIVED" << std::endl;
            if (max_messages_ > 0 && (samples_ >= max_messages_))
            {
                stop();
            }
        }
    }
}

void HelloWorldSubscriber::SubListener::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 HelloWorldSubscriber::run(
        uint32_t samples)
{
    stop_ = false;
    if (samples > 0)
    {
        std::cout << "Subscriber running until " << samples <<
            " samples have been received. Please press CTRL+C to stop the Subscriber at any time." << std::endl;
    }
    else
    {
        std::cout << "Subscriber running. Please press CTRL+C to stop the Subscriber." << std::endl;
    }
    signal(SIGINT, [](int signum)
            {
                std::cout << "SIGINT received, stopping Subscriber execution." << std::endl;
                static_cast<void>(signum); HelloWorldSubscriber::stop();
            });
    std::unique_lock<std::mutex> lck(terminate_cv_mtx_);
    terminate_cv_.wait(lck, []
            {
                return is_stopped();
            });
}