Make the trigger of the DDS Pipe callbacks configurable (#56)

* Use builtin topics for internal communication Signed-off-by: tempate <[email protected]> * Make the DdsPipeConfiguration required Signed-off-by: tempate <[email protected]> * Rebase fix Signed-off-by: tempate <[email protected]> * Uncrustify Signed-off-by: tempate <[email protected]> * WRITER discovery trigger Signed-off-by: tempate <[email protected]> * Internal communication through built-in topics Signed-off-by: tempate <[email protected]> * Fix windows error Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Remove outdated warning Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> --------- Signed-off-by: tempate <[email protected]>
eProsima · Nov 22, 2023 · 76bd140 · 76bd140
1 parent 26f4bb2
commit 76bd140
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diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
@@ -243,10 +243,6 @@ Example:
 
 See `Interface Whitelist <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/whitelist.html>`_ for more information.
 
-.. warning::
-
-    When providing an interface whitelist, external participants with which communication is desired must also be configured with interface whitelisting.
-
 Topic type format
 -----------------
 

diff --git a/fastddsspy_participants/include/fastddsspy_participants/types/EndpointInfo.hpp b/fastddsspy_participants/include/fastddsspy_participants/types/EndpointInfo.hpp
@@ -40,6 +40,7 @@ struct EndpointInfoData : public ddspipe::core::IRoutingData
     EndpointInfo info{};
 };
 
+FASTDDSSPY_PARTICIPANTS_DllAPI
 ddspipe::core::types::DdsTopic endpoint_info_topic() noexcept;
 
 FASTDDSSPY_PARTICIPANTS_DllAPI

diff --git a/fastddsspy_participants/include/fastddsspy_participants/types/ParticipantInfo.hpp b/fastddsspy_participants/include/fastddsspy_participants/types/ParticipantInfo.hpp
@@ -52,6 +52,7 @@ struct ParticipantInfoData : public ddspipe::core::IRoutingData
     ParticipantInfo info{};
 };
 
+FASTDDSSPY_PARTICIPANTS_DllAPI
 ddspipe::core::types::DdsTopic participant_info_topic() noexcept;
 
 FASTDDSSPY_PARTICIPANTS_DllAPI

diff --git a/fastddsspy_participants/src/cpp/participant/SpyParticipant.cpp b/fastddsspy_participants/src/cpp/participant/SpyParticipant.cpp
@@ -35,6 +35,7 @@ SpyParticipant::SpyParticipant(
             {
                 return this->new_participant_info_(data);
             };
+
     participants_writer_ = std::make_shared<InternalWriter>(
         participant_configuration->id,
         participant_callback);
@@ -43,19 +44,10 @@ SpyParticipant::SpyParticipant(
             {
                 return this->new_endpoint_info_(data);
             };
+
     endpoints_writer_ = std::make_shared<InternalWriter>(
         participant_configuration->id,
         endpoint_callback);
-
-    // Simulate that there is a reader of participants to force this track creation
-    discovery_database_->add_endpoint(
-        ddspipe::participants::rtps::CommonParticipant::simulate_endpoint(participant_info_topic(), this->id())
-        );
-
-    // Simulate that there is a reader of endpoints to force this track creation
-    discovery_database_->add_endpoint(
-        ddspipe::participants::rtps::CommonParticipant::simulate_endpoint(endpoint_info_topic(), this->id())
-        );
 }
 
 std::shared_ptr<ddspipe::core::IWriter> SpyParticipant::create_writer(

diff --git a/fastddsspy_participants/test/blackbox/model/EndpointDatabaseTest.cpp b/fastddsspy_participants/test/blackbox/model/EndpointDatabaseTest.cpp
@@ -116,14 +116,18 @@ std::shared_ptr<DdsPipe> create_pipe(
     DdsPipeConfiguration ddspipe_configuration;
     ddspipe_configuration.init_enabled = true;
 
+    // Create a built-in topic to transmit endpoint information
+    ddspipe_configuration.builtin_topics.insert(
+        utils::Heritable<types::DistributedTopic>::make_heritable(
+            spy::participants::endpoint_info_topic()));
+
     std::shared_ptr<DdsPipe> pipe =
             std::make_unique<DdsPipe>(
         ddspipe_configuration,
         discovery_database,
         payload_pool,
         participant_database,
-        thread_pool
-        );
+        thread_pool);
 
     return pipe;
 }

diff --git a/fastddsspy_participants/test/blackbox/model/ParticipantDatabaseTest.cpp b/fastddsspy_participants/test/blackbox/model/ParticipantDatabaseTest.cpp
@@ -90,6 +90,7 @@ std::shared_ptr<DdsPipe> create_pipe(
     // Create participants
     std::shared_ptr<spy::participants::SpyParticipantConfiguration> spy_configuration =
             std::make_shared<spy::participants::SpyParticipantConfiguration>();
+
     std::shared_ptr<spy::participants::SpyParticipant> spy_participant =
             std::make_shared<spy::participants::SpyParticipant>(
         spy_configuration,
@@ -116,14 +117,19 @@ std::shared_ptr<DdsPipe> create_pipe(
     DdsPipeConfiguration ddspipe_configuration;
     ddspipe_configuration.init_enabled = true;
 
+    // Create a built-in topic to transmit participant information
+    ddspipe_configuration.builtin_topics.insert(
+        utils::Heritable<types::DistributedTopic>::make_heritable(
+            spy::participants::participant_info_topic()));
+
     std::shared_ptr<DdsPipe> pipe =
             std::make_unique<DdsPipe>(
         ddspipe_configuration,
         discovery_database,
         payload_pool,
         participant_database,
-        thread_pool
-        );
+        thread_pool);
+
     return pipe;
 }
 

diff --git a/fastddsspy_tool/src/cpp/tool/Backend.cpp b/fastddsspy_tool/src/cpp/tool/Backend.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <ddspipe_core/configuration/DdsPipeConfiguration.hpp>
+#include <ddspipe_core/types/dynamic_types/types.hpp>
 
 #include "Backend.hpp"
 
@@ -62,11 +63,49 @@ Backend::Backend(
         spy_participant_
         );
 
-    // Create and initialize Pipe
-    ddspipe::core::DdsPipeConfiguration ddspipe_configuration;
+    // Create a built-in topic to transmit participant information
+    configuration_.ddspipe_configuration.builtin_topics.insert(
+        utils::Heritable<eprosima::ddspipe::core::types::DistributedTopic>::make_heritable(
+            spy::participants::participant_info_topic()));
+
+    // Create a built-in topic to transmit endpoint information
+    configuration_.ddspipe_configuration.builtin_topics.insert(
+        utils::Heritable<eprosima::ddspipe::core::types::DistributedTopic>::make_heritable(
+            spy::participants::endpoint_info_topic()));
+
+    // Create an internal topic to transmit the dynamic types
+    configuration_.ddspipe_configuration.builtin_topics.insert(
+        utils::Heritable<eprosima::ddspipe::core::types::DistributedTopic>::make_heritable(
+            eprosima::ddspipe::core::types::type_object_topic()));
+
+    if (!configuration_.ddspipe_configuration.allowlist.empty())
+    {
+        // The allowlist is not empty. Add the internal topics.
+        eprosima::ddspipe::core::types::WildcardDdsFilterTopic type_object_topic;
+        type_object_topic.topic_name.set_value(eprosima::ddspipe::core::types::TYPE_OBJECT_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<eprosima::ddspipe::core::types::WildcardDdsFilterTopic>::make_heritable(
+                type_object_topic));
 
+        eprosima::ddspipe::core::types::WildcardDdsFilterTopic participant_info_topic;
+        participant_info_topic.topic_name.set_value(participants::PARTICIPANT_INFO_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<eprosima::ddspipe::core::types::WildcardDdsFilterTopic>::make_heritable(
+                participant_info_topic));
+
+        eprosima::ddspipe::core::types::WildcardDdsFilterTopic endpoint_info_topic;
+        endpoint_info_topic.topic_name.set_value(participants::ENDPOINT_INFO_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<eprosima::ddspipe::core::types::WildcardDdsFilterTopic>::make_heritable(
+                endpoint_info_topic));
+    }
+
+    // Create and initialize Pipe
     pipe_ = std::make_unique<ddspipe::core::DdsPipe>(
-        ddspipe_configuration,
+        configuration_.ddspipe_configuration,
         discovery_database_,
         payload_pool_,
         participant_database_,

diff --git a/fastddsspy_yaml/include/fastddsspy_yaml/YamlReaderConfiguration.hpp b/fastddsspy_yaml/include/fastddsspy_yaml/YamlReaderConfiguration.hpp
@@ -17,11 +17,10 @@
 #include <cpp_utils/memory/Heritable.hpp>
 #include <cpp_utils/time/time_utils.hpp>
 
-#include <ddspipe_core/types/dds/TopicQoS.hpp>
-#include <ddspipe_core/types/topic/filter/IFilterTopic.hpp>
-#include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
 #include <ddspipe_core/configuration/DdsPipeConfiguration.hpp>
 #include <ddspipe_core/configuration/IConfiguration.hpp>
+#include <ddspipe_core/types/topic/filter/IFilterTopic.hpp>
+#include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
 
 #include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
 #include <ddspipe_participants/configuration/ParticipantConfiguration.hpp>
@@ -30,6 +29,8 @@
 #include <ddspipe_yaml/YamlReader.hpp>
 
 #include <fastddsspy_participants/configuration/SpyParticipantConfiguration.hpp>
+#include <fastddsspy_participants/types/EndpointInfo.hpp>
+#include <fastddsspy_participants/types/ParticipantInfo.hpp>
 
 #include <fastddsspy_yaml/library/library_dll.h>
 

diff --git a/fastddsspy_yaml/src/cpp/YamlReaderConfiguration.cpp b/fastddsspy_yaml/src/cpp/YamlReaderConfiguration.cpp
@@ -15,7 +15,6 @@
 #include <ddspipe_core/types/dds/TopicQoS.hpp>
 #include <ddspipe_core/types/dynamic_types/types.hpp>
 #include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
-#include <ddspipe_core/types/topic/filter/IFilterTopic.hpp>
 #include <ddspipe_core/types/topic/filter/ManualTopic.hpp>
 #include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
 #include <ddspipe_participants/types/address/Address.hpp>
@@ -25,9 +24,6 @@
 #include <ddspipe_yaml/YamlManager.hpp>
 #include <ddspipe_yaml/YamlReader.hpp>
 
-#include <fastddsspy_participants/types/EndpointInfo.hpp>
-#include <fastddsspy_participants/types/ParticipantInfo.hpp>
-
 #include <fastddsspy_yaml/yaml_configuration_tags.hpp>
 
 #include <fastddsspy_yaml/YamlReaderConfiguration.hpp>
@@ -109,6 +105,8 @@ void Configuration::load_configuration_(
         ddspipe_configuration.blocklist.insert(
             utils::Heritable<WildcardDdsFilterTopic>::make_heritable(rpc_response_topic));
 
+        // Only trigger the DdsPipe's callbacks with the discovery (and removal) of writers.
+        ddspipe_configuration.discovery_trigger = DiscoveryTrigger::WRITER;
     }
     catch (const std::exception& e)
     {
@@ -127,24 +125,6 @@ void Configuration::load_dds_configuration_(
     {
         ddspipe_configuration.allowlist = YamlReader::get_set<utils::Heritable<IFilterTopic>>(yml, ALLOWLIST_TAG,
                         version);
-
-        // Add to allowlist always the type object topic
-        WildcardDdsFilterTopic type_object_topic;
-        type_object_topic.topic_name.set_value(TYPE_OBJECT_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(type_object_topic));
-
-        // Add to allowlist always the participant info internal topic
-        WildcardDdsFilterTopic participant_info_topic;
-        participant_info_topic.topic_name.set_value(participants::PARTICIPANT_INFO_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(participant_info_topic));
-
-        // Add to allowlist always the endpoint info internal topic
-        WildcardDdsFilterTopic endpoint_info_topic;
-        endpoint_info_topic.topic_name.set_value(participants::ENDPOINT_INFO_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(endpoint_info_topic));
     }
 
     /////