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Refs #22506. Filter interested readers on PDP writer
Signed-off-by: Eugenio Collado <[email protected]>
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src/cpp/rtps/builtin/discovery/participant/simple/PDPStatelessWriter.cpp
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| // Copyright 2025 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. | ||
|
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| /** | ||
| * @file PDPStatelessWriter.cpp | ||
| */ | ||
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| #include <rtps/builtin/discovery/participant/simple/PDPStatelessWriter.hpp> | ||
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| #include <algorithm> | ||
| #include <cassert> | ||
| #include <chrono> | ||
| #include <cstdint> | ||
| #include <mutex> | ||
| #include <set> | ||
| #include <vector> | ||
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| #include <fastrtps/rtps/history/WriterHistory.h> | ||
| #include <rtps/participant/RTPSParticipantImpl.h> | ||
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| namespace eprosima { | ||
| namespace fastrtps { | ||
| namespace rtps { | ||
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| PDPStatelessWriter::PDPStatelessWriter( | ||
| RTPSParticipantImpl* participant, | ||
| const GUID_t& guid, | ||
| const WriterAttributes& attributes, | ||
| fastdds::rtps::FlowController* flow_controller, | ||
| WriterHistory* history, | ||
| WriterListener* listener) | ||
| : StatelessWriter(participant, guid, attributes, flow_controller, history, listener) | ||
| , interested_readers_(participant->getRTPSParticipantAttributes().allocation.participants) | ||
| { | ||
| } | ||
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| bool PDPStatelessWriter::matched_reader_add( | ||
| const ReaderProxyData& data) | ||
| { | ||
| bool ret = StatelessWriter::matched_reader_add(data); | ||
| if (ret) | ||
| { | ||
| // Mark new reader as interested | ||
| add_interested_reader(data.guid()); | ||
| // Send announcement to new reader | ||
| reschedule_all_samples(); | ||
| } | ||
| return ret; | ||
| } | ||
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| bool PDPStatelessWriter::matched_reader_remove( | ||
| const GUID_t& reader_guid) | ||
| { | ||
| bool ret = StatelessWriter::matched_reader_remove(reader_guid); | ||
| if (ret) | ||
| { | ||
| // Mark reader as not interested | ||
| remove_interested_reader(reader_guid); | ||
| } | ||
| return ret; | ||
| } | ||
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| void PDPStatelessWriter::unsent_change_added_to_history( | ||
| CacheChange_t* change, | ||
| const std::chrono::time_point<std::chrono::steady_clock>& max_blocking_time) | ||
| { | ||
| mark_all_readers_interested(); | ||
| StatelessWriter::unsent_change_added_to_history(change, max_blocking_time); | ||
| } | ||
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| void PDPStatelessWriter::set_initial_peers( | ||
| const fastdds::rtps::LocatorList& locator_list) | ||
| { | ||
| std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); | ||
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| initial_peers_.push_back(locator_list); | ||
| mp_RTPSParticipant->createSenderResources(initial_peers_); | ||
| } | ||
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| void PDPStatelessWriter::send_periodic_announcement() | ||
| { | ||
| mark_all_readers_interested(); | ||
| reschedule_all_samples(); | ||
| } | ||
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| bool PDPStatelessWriter::send_to_fixed_locators( | ||
| CDRMessage_t* message, | ||
| std::chrono::steady_clock::time_point& max_blocking_time_point) const | ||
| { | ||
| bool ret = true; | ||
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| if (should_reach_all_destinations_) | ||
| { | ||
| ret = initial_peers_.empty() || | ||
| mp_RTPSParticipant->sendSync(message, m_guid, | ||
| Locators(initial_peers_.begin()), Locators(initial_peers_.end()), | ||
| max_blocking_time_point); | ||
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| if (ret) | ||
| { | ||
| fixed_locators_.clear(); | ||
| should_reach_all_destinations_ = false; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| interested_readers_.clear(); | ||
| } | ||
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| return ret; | ||
| } | ||
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| bool PDPStatelessWriter::is_relevant( | ||
| const CacheChange_t& /* change */, | ||
| const GUID_t& reader_guid) const | ||
| { | ||
| return interested_readers_.end() != | ||
| std::find(interested_readers_.begin(), interested_readers_.end(), reader_guid); | ||
| } | ||
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| void PDPStatelessWriter::mark_all_readers_interested() | ||
| { | ||
| std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); | ||
| should_reach_all_destinations_ = true; | ||
| interested_readers_.clear(); | ||
| fixed_locators_.clear(); | ||
| fixed_locators_.push_back(initial_peers_); | ||
| reader_data_filter(nullptr); | ||
| } | ||
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| void PDPStatelessWriter::add_interested_reader( | ||
| const GUID_t& reader_guid) | ||
| { | ||
| std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); | ||
| if (!should_reach_all_destinations_) | ||
| { | ||
| auto it = std::find(interested_readers_.begin(), interested_readers_.end(), reader_guid); | ||
| if (it == interested_readers_.end()) | ||
| { | ||
| interested_readers_.emplace_back(reader_guid); | ||
| reader_data_filter(this); | ||
| } | ||
| } | ||
| } | ||
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| void PDPStatelessWriter::remove_interested_reader( | ||
| const GUID_t& reader_guid) | ||
| { | ||
| std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); | ||
| interested_readers_.remove(reader_guid); | ||
| } | ||
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| void PDPStatelessWriter::reschedule_all_samples() | ||
| { | ||
| std::lock_guard<RecursiveTimedMutex> guard(mp_mutex); | ||
| size_t n_samples = mp_history->getHistorySize(); | ||
| if (0 < n_samples) | ||
| { | ||
| assert(1 == n_samples); | ||
| auto it = mp_history->changesBegin(); | ||
| CacheChange_t* change = *it; | ||
| flow_controller_->add_new_sample(this, change, std::chrono::steady_clock::now() + std::chrono::hours(24)); | ||
| } | ||
| } | ||
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| } // namespace rtps | ||
| } // namespace fastdds | ||
| } // namespace eprosima |
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