Class PDP

Defined in File PDP.h

Inheritance Relationships

Derived Type

public eprosima::fastrtps::rtps::PDPSimple (Class PDPSimple)

Class Documentation

class PDP

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

builtin – Pointer to the BuiltinProcols object.
allocation – Participant allocation 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 = false, WriteParams &wparams = WriteParams::WRITE_PARAM_DEFAULT)

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 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

guid – [in] GUID_t of the RTPSParticipant we are looking for.
name – [out] Copy of name on ParticipantProxyData object.

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 – GUID_t of the reader to remove.
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 – GUID_t of the wtiter to remove.
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) = 0

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

Parameters: pdata – Pointer to the ParticipantProxyData object.

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 vs removed)

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()

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.

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

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 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.

Protected Attributes

BuiltinProtocols *mp_builtin: Pointer to the builtin protocols object.

RTPSParticipantImpl *mp_RTPSParticipant: Pointer to the local RTPSParticipant.

BuiltinAttributes m_discovery: Discovery attributes.

RTPSWriter *mp_PDPWriter: Pointer to the PDPWriter.

RTPSReader *mp_PDPReader: Pointer to the PDPReader.

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.

ReaderListener *mp_listener: Listener for the SPDP messages.

WriterHistory *mp_PDPWriterHistory: WriterHistory.

std::shared_ptr<ITopicPayloadPool> writer_payload_pool_: Writer payload pool.

ReaderHistory *mp_PDPReaderHistory: Reader History.

std::shared_ptr<ITopicPayloadPool> reader_payload_pool_: Reader payload pool.

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