Class PDP

Inheritance Relationships

Base Type

Derived Type

Class Documentation

class PDP : public eprosima::fastdds::statistics::rtps::IProxyQueryable

Abstract class PDP that implements the basic interfaces for all Participant Discovery implementations It also keeps the Participant Discovery Data and provides interfaces to access it

Subclassed by eprosima::fastrtps::rtps::PDPSimple

Public Functions

PDP(BuiltinProtocols *builtin, const RTPSParticipantAllocationAttributes &allocation)

Constructor

Parameters:
virtual ~PDP()
virtual void initializeParticipantProxyData(ParticipantProxyData *participant_data)
bool initPDP(RTPSParticipantImpl *part)

Initialize the PDP.

Parameters:

part – Pointer to the RTPSParticipant.

Returns:

True on success

bool enable()

Enable the Participant Discovery Protocol.

Returns:

true if enabled correctly, or if already enabled; false otherwise

virtual bool init(RTPSParticipantImpl *part) = 0
virtual ParticipantProxyData *createParticipantProxyData(const ParticipantProxyData &p, const GUID_t &writer_guid) = 0

Creates an initializes a new participant proxy from a DATA(p) raw info

Parameters:

  • p – from DATA msg deserialization

  • writer_guid – GUID of originating writer

Returns:

new ParticipantProxyData * or nullptr on failure

virtual void announceParticipantState(bool new_change, bool dispose, WriteParams &wparams) = 0

Force the sending of our local DPD to all remote RTPSParticipants and multicast Locators.

Parameters:

  • new_change – If true a new change (with new seqNum) is created and sent;If false the last change is re-sent

  • dispose – sets change kind to NOT_ALIVE_DISPOSED_UNREGISTERED

  • wparams – allows to identify the change

virtual void announceParticipantState(bool new_change, bool dispose = false)

announceParticipantState method without optional output parameter wparams .

virtual void stopParticipantAnnouncement()

Stop the RTPSParticipantAnnouncement (only used in tests).

virtual void resetParticipantAnnouncement()

Reset the RTPSParticipantAnnouncement (only used in tests).

ReaderProxyData *addReaderProxyData(const GUID_t &reader_guid, GUID_t &participant_guid, std::function<bool(ReaderProxyData*, bool, const ParticipantProxyData&)> initializer_func)

Add a ReaderProxyData to the correct ParticipantProxyData.

Parameters:

  • reader_guid – [in] GUID of the reader to add.

  • participant_guid – [out] GUID of the ParticipantProxyData where the reader was added.

  • initializer_func – [in] Function to be called in order to set the data of the ReaderProxyData.

Returns:

A pointer to the added ReaderProxyData (nullptr if it could not be added).

WriterProxyData *addWriterProxyData(const GUID_t &writer_guid, GUID_t &participant_guid, std::function<bool(WriterProxyData*, bool, const ParticipantProxyData&)> initializer_func)

Add a WriterProxyData to the correct ParticipantProxyData.

Parameters:

  • writer_guid – [in] GUID of the writer to add.

  • participant_guid – [out] GUID of the ParticipantProxyData where the writer was added.

  • initializer_func – [in] Function to be called in order to set the data of the WriterProxyData.

Returns:

A pointer to the added WriterProxyData (nullptr if it could not be added).

bool has_reader_proxy_data(const GUID_t &reader)

This method returns whether a ReaderProxyDataObject exists among the registered RTPSParticipants (including the local RTPSParticipant).

Parameters:

reader – [in] GUID_t of the reader we are looking for.

Returns:

True if found.

bool lookupReaderProxyData(const GUID_t &reader, ReaderProxyData &rdata)

This method gets a copy of a ReaderProxyData object if it is found among the registered RTPSParticipants (including the local RTPSParticipant).

Parameters:

  • reader – [in] GUID_t of the reader we are looking for.

  • rdata – [out] Reference to the ReaderProxyData object where data is to be returned.

Returns:

True if found.

bool has_writer_proxy_data(const GUID_t &writer)

This method returns whether a WriterProxyData exists among the registered RTPSParticipants (including the local RTPSParticipant).

Parameters:

writer – [in] GUID_t of the writer we are looking for.

Returns:

True if found.

bool lookupWriterProxyData(const GUID_t &writer, WriterProxyData &wdata)

This method gets a copy of a WriterProxyData object if it is found among the registered RTPSParticipants (including the local RTPSParticipant).

Parameters:

  • writer – [in] GUID_t of the writer we are looking for.

  • wdata – [out] Reference to the WriterProxyData object where data is to be returned.

Returns:

True if found.

bool lookup_participant_name(const GUID_t &guid, string_255 &name)

This method returns the name of a participant if it is found among the registered RTPSParticipants.

Parameters:
Returns:

True if found.

bool removeReaderProxyData(const GUID_t &reader_guid)

This method removes and deletes a ReaderProxyData object from its corresponding RTPSParticipant.

Parameters:

reader_guid – [in] GUID_t of the reader to remove.

Returns:

true if found and deleted.

bool removeReaderProxyData(const GUID_t &reader_guid, ReaderDiscoveryInfo::DISCOVERY_STATUS reason)

This method removes and deletes a ReaderProxyData object from its corresponding RTPSParticipant.

Parameters:

  • reader_guid – [in] GUID_t of the reader to remove.

  • reason – [in] Why the reader is being removed (dropped, removed, or ignored)

Returns:

true if found and deleted.

bool removeWriterProxyData(const GUID_t &writer_guid)

This method removes and deletes a WriterProxyData object from its corresponding RTPSParticipant.

Parameters:

writer_guid – [in] GUID_t of the writer to remove.

Returns:

true if found and deleted.

bool removeWriterProxyData(const GUID_t &writer_guid, WriterDiscoveryInfo::DISCOVERY_STATUS reason)

This method removes and deletes a WriterProxyData object from its corresponding RTPSParticipant.

Parameters:

  • writer_guid – [in] GUID_t of the writer to remove.

  • reason – [in] Why the writer is being removed (dropped, removed, or ignored)

Returns:

true if found and deleted.

virtual bool createPDPEndpoints() = 0

Create the SPDP Writer and Reader

Returns:

True if correct.

virtual void assignRemoteEndpoints(ParticipantProxyData *pdata) = 0

This method assigns remote endpoints to the builtin endpoints defined in this protocol. It also calls the corresponding methods in EDP and WLP.

Parameters:

pdata – Pointer to the RTPSParticipantProxyData object.

virtual void notifyAboveRemoteEndpoints(const ParticipantProxyData &pdata, bool notify_secure_endpoints) = 0

Override to match additional endpoints to PDP. Like EDP or WLP.

Parameters:

  • pdata – Pointer to the ParticipantProxyData object.

  • notify_secure_endpoints – Whether to try notifying secure endpoints.

inline virtual bool updateInfoMatchesEDP()

Some PDP classes require EDP matching with update PDP DATAs like EDPStatic

Returns:

true if EDP endpoinst must be match

virtual void removeRemoteEndpoints(ParticipantProxyData *pdata) = 0

Remove remote endpoints from the participant discovery protocol

Parameters:

pdata – Pointer to the ParticipantProxyData to remove

virtual bool remove_remote_participant(const GUID_t &participant_guid, ParticipantDiscoveryInfo::DISCOVERY_STATUS reason)

This method removes a remote RTPSParticipant and all its writers and readers.

Parameters:

  • participant_guid – GUID_t of the remote RTPSParticipant.

  • reason – Why the participant is being removed (dropped, removed, or ignored)

Returns:

true if correct.

const BuiltinAttributes &builtin_attributes() const

This method returns the BuiltinAttributes of the local participant.

Returns:

const reference to the BuiltinAttributes of the local participant.

inline ParticipantProxyData *getLocalParticipantProxyData() const

Get a pointer to the local RTPSParticipant ParticipantProxyData object.

Returns:

Pointer to the local RTPSParticipant ParticipantProxyData object.

inline EDP *getEDP()

Get a pointer to the EDP object.

Returns:

pointer to the EDP object.

inline ResourceLimitedVector<ParticipantProxyData*>::const_iterator ParticipantProxiesBegin()

Get a const_iterator to the beginning of the RTPSParticipant Proxies.

Returns:

const_iterator.

inline ResourceLimitedVector<ParticipantProxyData*>::const_iterator ParticipantProxiesEnd()

Get a const_iterator to the end of the RTPSParticipant Proxies.

Returns:

const_iterator.

inline size_t participant_proxies_number()

Get the number of participant proxies.

Returns:

size_t.

void assert_remote_participant_liveliness(const GuidPrefix_t &remote_guid)

Assert the liveliness of a Remote Participant.

Parameters:

remote_guid – GuidPrefix_t of the participant whose liveliness is being asserted.

inline RTPSParticipantImpl *getRTPSParticipant() const

Get the RTPS participant

Returns:

RTPS participant

inline std::recursive_mutex *getMutex() const

Get the mutex.

Returns:

Pointer to the Mutex

CDRMessage_t get_participant_proxy_data_serialized(Endianness_t endian)
ParticipantProxyData *get_participant_proxy_data(const GuidPrefix_t &guid_prefix)

Retrive the ParticipantProxyData of a participant

Parameters:

guid_prefix – The GUID prefix of the participant of which the proxy data is retrieved

Returns:

A pointer to the ParticipantProxyData. nullptr if there is no such ParticipantProxyData

std::list<eprosima::fastdds::rtps::RemoteServerAttributes> &remote_server_attributes()

Get the list of remote servers to which the client should connect

Returns:

A reference to the list of RemoteServerAttributes

inline ProxyPool<ReaderProxyData> &get_temporary_reader_proxies_pool()

Access the temporary proxy pool for reader proxies

Returns:

pool reference

inline ProxyPool<WriterProxyData> &get_temporary_writer_proxies_pool()

Access the temporary proxy pool for writer proxies

Returns:

pool reference

ReaderAttributes create_builtin_reader_attributes() const
WriterAttributes create_builtin_writer_attributes() const
inline bool get_all_local_proxies(std::vector<GUID_t>&) override
inline virtual bool get_serialized_proxy(const GUID_t&, CDRMessage_t*) override

Interface for retrieving the serialized proxy of an entity. This is in the form of a sequence of octets.

Parameters:

  • guid – [in] The GUID_t identifying the target entity

  • msg – [out] Pointer containig the serialized proxy

Returns:

Whether the operation succeeds or not

Protected Functions

ParticipantProxyData *add_participant_proxy_data(const GUID_t &participant_guid, bool with_lease_duration, const ParticipantProxyData *participant_proxy_data = nullptr)

Adds an entry to the collection of participant proxy information. May use one of the entries present in the pool.

Parameters:

  • participant_guid – GUID of the participant for which to create the proxy object.

  • with_lease_duration – indicates whether lease duration event should be created.

  • participant_proxy_data – The participant proxy data from which the copy is made (if provided)

Returns:

pointer to the currently inserted entry, nullptr if allocation limits were reached.

bool data_matches_with_prefix(const GuidPrefix_t &guid_prefix, const ParticipantProxyData &participant_data)

Checks whether two participant prefixes are equal by calculating the mangled GUID and comparing it with the remote participant prefix.

Parameters:

  • guid_prefix – the original desired guid_prefix to compare

  • participant_data – The participant proxy data to compare against

Returns:

true when prefixes are equivalent

bool lookup_participant_key(const GUID_t &participant_guid, InstanceHandle_t &key)

Gets the key of a participant proxy data.

Parameters:

  • participant_guid – [in] GUID of the participant to look for.

  • key – [out] of the corresponding proxy object.

Returns:

true when input GUID is found.

void announceParticipantState(RTPSWriter &writer, WriterHistory &history, bool new_change, bool dispose = false, WriteParams &wparams = WriteParams::WRITE_PARAM_DEFAULT)

Force the sending of our local DPD to all remote RTPSParticipants and multicast Locators.

Parameters:

  • writer – RTPSWriter to use for sending the announcement

  • history – history where the change should be added

  • new_change – If true a new change (with new seqNum) is created and sent;If false the last change is re-sent

  • dispose – sets change kind to NOT_ALIVE_DISPOSED_UNREGISTERED

  • wparams – allows to identify the change

virtual void update_builtin_locators() = 0

Called after creating the builtin endpoints to update the metatraffic unicast locators of BuiltinProtocols

void notify_and_maybe_ignore_new_participant(ParticipantProxyData *pdata, bool &should_be_ignored)

Protected Attributes

BuiltinProtocols *mp_builtin

Pointer to the builtin protocols object.

RTPSParticipantImpl *mp_RTPSParticipant

Pointer to the local RTPSParticipant.

BuiltinAttributes m_discovery

Discovery attributes.

std::unique_ptr<fastdds::rtps::PDPEndpoints> builtin_endpoints_

Builtin PDP endpoints.

EDP *mp_EDP

Pointer to the EDP object.

size_t participant_proxies_number_

Number of participant proxy data objects created.

ResourceLimitedVector<ParticipantProxyData*> participant_proxies_

Registered RTPSParticipants (including the local one, that is the first one.)

ResourceLimitedVector<ParticipantProxyData*> participant_proxies_pool_

Pool of participant proxy data objects ready for reuse.

size_t reader_proxies_number_

Number of reader proxy data objects created.

ResourceLimitedVector<ReaderProxyData*> reader_proxies_pool_

Pool of reader proxy data objects ready for reuse.

size_t writer_proxies_number_

Number of writer proxy data objects created.

ResourceLimitedVector<WriterProxyData*> writer_proxies_pool_

Pool of writer proxy data objects ready for reuse.

std::atomic_bool m_hasChangedLocalPDP

Variable to indicate if any parameter has changed.

ProxyPool<ReaderProxyData> temp_reader_proxies_

ProxyPool for temporary reader proxies.

ProxyPool<WriterProxyData> temp_writer_proxies_

ProxyPool for temporary writer proxies.

std::recursive_mutex *mp_mutex

Participant data atomic access assurance.

std::mutex callback_mtx_

To protect callbacks (ParticipantProxyData&)

std::atomic<bool> enabled_ = {false}

Tell if object is enabled.

Friends

friend class fastdds::rtps::PDPServerListener