Program Listing for File ServerAttributes.h

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// Copyright 2019 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.

#ifndef _FASTDDS_SERVERATTRIBUTES_H_
#define _FASTDDS_SERVERATTRIBUTES_H_
#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC

#include <fastdds/rtps/common/Guid.h>
#include <fastdds/rtps/common/Locator.h>

#include <algorithm>
#include <iterator>
#include <list>

namespace eprosima {

namespace fastrtps {
namespace rtps {
class ParticipantProxyData;
} // fastrtps
} // rtps

namespace fastdds {
namespace rtps {

class RemoteServerAttributes
{
public:

    RTPS_DllAPI inline bool operator ==(
            const RemoteServerAttributes& r) const
    {
        return guidPrefix == r.guidPrefix
               && metatrafficUnicastLocatorList == r.metatrafficUnicastLocatorList
               && metatrafficMulticastLocatorList == r.metatrafficMulticastLocatorList;
        //     && proxy == r.proxy;
    }

    RTPS_DllAPI void clear()
    {
        guidPrefix = fastrtps::rtps::GuidPrefix_t::unknown();
        metatrafficUnicastLocatorList.clear();
        metatrafficMulticastLocatorList.clear();
        proxy = nullptr;
    }

    RTPS_DllAPI fastrtps::rtps::GUID_t GetParticipant() const;

    RTPS_DllAPI fastrtps::rtps::GUID_t GetPDPReader() const;
    RTPS_DllAPI fastrtps::rtps::GUID_t GetPDPWriter() const;

#ifndef DOXYGEN_SHOULD_SKIP_THIS
    FASTDDS_DEPRECATED_UNTIL(3, "eprosima::fastrtps::rtps:GetEDPPublicationsReader()",
            "Not implemented nor used functions.")
    RTPS_DllAPI fastrtps::rtps::GUID_t GetEDPPublicationsReader() const;
    FASTDDS_DEPRECATED_UNTIL(3, "eprosima::fastrtps::rtps:GetEDPSubscriptionsWriter()",
            "Not implemented nor used functions.")
    RTPS_DllAPI fastrtps::rtps::GUID_t GetEDPSubscriptionsWriter() const;

    FASTDDS_DEPRECATED_UNTIL(3, "eprosima::fastrtps::rtps:GetEDPPublicationsWriter()",
            "Not implemented nor used functions.")
    RTPS_DllAPI fastrtps::rtps::GUID_t GetEDPPublicationsWriter() const;
    FASTDDS_DEPRECATED_UNTIL(3, "eprosima::fastrtps::rtps:GetEDPSubscriptionsReader()",
            "Not implemented nor used functions.")
    RTPS_DllAPI fastrtps::rtps::GUID_t GetEDPSubscriptionsReader() const;
#endif // ifndef DOXYGEN_SHOULD_SKIP_THIS

    RTPS_DllAPI inline bool ReadguidPrefix(
            const char* pfx)
    {
        return bool(std::istringstream(pfx) >> guidPrefix);
    }

    LocatorList metatrafficUnicastLocatorList;
    LocatorList metatrafficMulticastLocatorList;

    fastrtps::rtps::GuidPrefix_t guidPrefix;

    // Live participant proxy reference
    const fastrtps::rtps::ParticipantProxyData* proxy{};

    // Check if there are specific transport locators associated
    // the template parameter is the locator kind (e.g. LOCATOR_KIND_UDPv4)
    template<int kind> bool requires_transport() const
    {
        return metatrafficUnicastLocatorList.has_kind<kind>() ||
               metatrafficMulticastLocatorList.has_kind<kind>();
    }

};

typedef std::list<RemoteServerAttributes> RemoteServerList_t;

template<class charT>
struct server_ostream_separators
{
    static const charT* list_separator;
    static const charT* locator_separator;
};

#ifndef _MSC_VER
template<> const char* server_ostream_separators<char>::list_separator;
template<> const wchar_t* server_ostream_separators<wchar_t>::list_separator;

template<> const char* server_ostream_separators<char>::locator_separator;
template<> const wchar_t* server_ostream_separators<wchar_t>::locator_separator;
#endif // _MSC_VER

template<class charT>
std::basic_ostream<charT>& operator <<(
        std::basic_ostream<charT>& output,
        const RemoteServerAttributes& sa)
{
    typename std::basic_ostream<charT>::sentry s(output);
    output << sa.guidPrefix;
    if (!sa.metatrafficUnicastLocatorList.empty())
    {
        output << server_ostream_separators<charT>::locator_separator << sa.metatrafficUnicastLocatorList;
    }
    if (!sa.metatrafficMulticastLocatorList.empty())
    {
        output << server_ostream_separators<charT>::locator_separator << sa.metatrafficMulticastLocatorList;
    }
    return output;
}

template<class charT>
std::basic_ostream<charT>& operator <<(
        std::basic_ostream<charT>& output,
        const RemoteServerList_t& list)
{
    typename std::basic_ostream<charT>::sentry s(output);
    std::ostream_iterator<RemoteServerAttributes> os_iterator(output, server_ostream_separators<charT>::list_separator);
    std::copy(list.begin(), list.end(), os_iterator);
    return output;
}

// port use if the ros environment variable doesn't specified one
constexpr uint16_t DEFAULT_ROS2_SERVER_PORT = 11811;
// default server base guidPrefix
const char* const DEFAULT_ROS2_SERVER_GUIDPREFIX = "44.53.00.5f.45.50.52.4f.53.49.4d.41";

/* Environment variable to specify a semicolon-separated list of UDPv4 locators (ip:port) that define remote server
 * locators.
 * The position in the list is used as a "server id" to extrapolate the server's GUID prefix.
 * For the variable to take any effect, the following pre-conditions must be met:
 *    1. The server's GUID prefix must be compliant with the schema
 *       "44.53.<server_id_in_hex>.5f.45.50.52.4f.53.49.4d.41", which is the schema followed by the prefixes generated
 *        when creating server using fastdds cli, being DEFAULT_ROS2_SERVER_GUIDPREFIX the prefix for ID=0.
 *    1. The discovery protocol must be either SIMPLE or SERVER.
 *       1. In the case of SIMPLE, the participant is created as a CLIENT instead.
 *       1. In the case of SERVER, the participant is created as a SERVER, using the DEFAULT_ROS2_MASTER_URI list to
 *          expand the list of remote servers.
 */
const char* const DEFAULT_ROS2_MASTER_URI = "ROS_DISCOVERY_SERVER";

RTPS_DllAPI bool load_environment_server_info(
        const std::string& list,
        RemoteServerList_t& attributes);

RTPS_DllAPI bool load_environment_server_info(
        RemoteServerList_t& attributes);

RTPS_DllAPI const std::string& ros_discovery_server_env();

RTPS_DllAPI bool get_server_client_default_guidPrefix(
        int id,
        fastrtps::rtps::GuidPrefix_t& guid);

} // namespace rtps
} // namespace fastdds

// keep former namespace references available
namespace fastrtps {
namespace rtps {

using fastdds::rtps::RemoteServerAttributes;
using fastdds::rtps::RemoteServerList_t;
using fastdds::rtps::DEFAULT_ROS2_SERVER_PORT;
using fastdds::rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX;
using fastdds::rtps::DEFAULT_ROS2_MASTER_URI;
using fastdds::rtps::load_environment_server_info;
using fastdds::rtps::ros_discovery_server_env;
using fastdds::rtps::get_server_client_default_guidPrefix;

} // fastrtps
} // rtps

} // namespace eprosima

#endif // DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
#endif /* _FASTDDS_SERVERATTRIBUTES_H_ */