TCP support for Discovery server CLI and env. var. (#4097) (#4135)

* TCP support for Discovery server CLI and env var (#4097) * Refs #20021: TCP support for CLI Discovery server Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add TCP to Discovery Server Example Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: CLI: Add argument for TCP port and example Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add TCP support to environment variable Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Use autofill feature & check existing transports Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Update BlackboxTestsDiscovery for TCPv4/6 dns support Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Apply Revision's Suggestions Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add test for TCP single IP address & Fix DNS test Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Add default TCP interface to CLI Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Uncrustify Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Update tests with new locator syntax & fix CLI Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Update Readme Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #20021: Fix warnings Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs 20021: Update versions.md Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> --------- Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> (cherry picked from commit 2653efb) # Conflicts: # examples/C++/DDS/BasicConfigurationExample/BasicConfigurationPublisher.cpp # examples/C++/DDS/BasicConfigurationExample/BasicConfigurationSubscriber.cpp # examples/cpp/dds/DiscoveryServerExample/DiscoveryServerServer.cpp # examples/cpp/dds/DiscoveryServerExample/DiscoveryServer_main.cpp # examples/cpp/dds/DiscoveryServerExample/README.md # examples/cpp/dds/DiscoveryServerExample/arg_configuration.h # examples/cpp/dds/DiscoveryServerExample/common.h # include/fastdds/rtps/attributes/ServerAttributes.h # src/cpp/rtps/RTPSDomain.cpp # src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp # test/blackbox/common/BlackboxTestsDiscovery.cpp # tools/fds/server.cpp # tools/fds/server.h # versions.md * Fix Conflicts Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Revert "Fix Conflicts" This reverts commit b79bbe9. * Fix building incompatibilities Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Remove Discovery Server example Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Apply changes & Fix env var reading Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Uncrustify Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Fix CLI tool Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Uncrustify Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> --------- Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> Co-authored-by: Carlos Ferreira González <carlosferreira@eprosima.com>
eProsima · Dec 21, 2023 · 47e1161 · 47e1161
1 parent f7e55aa
commit 47e1161
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Showing 10 changed files with 625 additions and 110 deletions.
diff --git a/examples/C++/DDS/BasicConfigurationExample/BasicConfigurationSubscriber.cpp b/examples/C++/DDS/BasicConfigurationExample/BasicConfigurationSubscriber.cpp
@@ -27,6 +27,8 @@
 #include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv6TransportDescriptor.h>
+#include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
+#include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
 #include <fastrtps/attributes/ParticipantAttributes.h>
 #include <fastrtps/attributes/SubscriberAttributes.h>
 

diff --git a/include/fastdds/rtps/attributes/ServerAttributes.h b/include/fastdds/rtps/attributes/ServerAttributes.h
@@ -100,14 +100,25 @@ class RemoteServerAttributes
 
     // 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;
 
-// port use if the ros environment variable doesn't specified one
+// port used 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";
+// port used by default for tcp transport
+constexpr uint16_t DEFAULT_TCP_SERVER_PORT = 42100;
 
 /* Environment variable to specify a semicolon-separated list of UDPv4 locators (ip:port) that define remote server
  * locators.

diff --git a/include/fastdds/rtps/common/Locator.h b/include/fastdds/rtps/common/Locator.h
@@ -371,7 +371,15 @@ inline std::ostream& operator <<(
     }
 
     // Stream port
-    output << "]:" << loc.port;
+    if (loc.kind == LOCATOR_KIND_TCPv4 || loc.kind == LOCATOR_KIND_TCPv6)
+    {
+        output << "]:" << std::to_string(IPLocator::getPhysicalPort(loc)) << "-" << std::to_string(IPLocator::getLogicalPort(
+                    loc));
+    }
+    else
+    {
+        output << "]:" << loc.port;
+    }
 
     return output;
 }

diff --git a/include/fastdds/rtps/common/LocatorList.hpp b/include/fastdds/rtps/common/LocatorList.hpp
@@ -378,6 +378,21 @@ class LocatorList
         this->m_locators.swap(locatorList.m_locators);
     }
 
+    // Check if there are specific transport locators associated
+    // the template parameter is the locator kind (e.g. LOCATOR_KIND_UDPv4)
+    template<int kind> bool has_kind() const
+    {
+        for (auto& loc : m_locators)
+        {
+            if ( kind == loc.kind )
+            {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
 private:
 
     std::vector<Locator> m_locators;

diff --git a/src/cpp/rtps/RTPSDomain.cpp b/src/cpp/rtps/RTPSDomain.cpp
@@ -31,8 +31,8 @@
 #include <fastdds/rtps/writer/RTPSWriter.h>
 
 #include <rtps/transport/UDPv4Transport.h>
-#include <rtps/transport/UDPv6Transport.h>
 #include <rtps/transport/test_UDPv4Transport.h>
+#include <rtps/transport/TCPv4Transport.h>
 
 #include <fastrtps/utils/IPFinder.h>
 #include <fastrtps/utils/IPLocator.h>
@@ -463,17 +463,58 @@ RTPSParticipant* RTPSDomain::clientServerEnvironmentCreationOverride(
     RTPSParticipantAttributes client_att(att);
 
     // Retrieve the info from the environment variable
-    // TODO(jlbueno) This should be protected with the PDP mutex.
+    RemoteServerList_t& server_list = client_att.builtin.discovery_config.m_DiscoveryServers;
     if (load_environment_server_info(client_att.builtin.discovery_config.m_DiscoveryServers) &&
             client_att.builtin.discovery_config.m_DiscoveryServers.empty())
     {
-        // it's not an error, the environment variable may not be set. Any issue with environment
-        // variable syntax is logError already
+        // It's not an error, the environment variable may not be set. Any issue with environment
+        // variable syntax is reported with a logError
         return nullptr;
     }
 
+    // Check if some server requires the TCPv4 transport
+    for (auto& server : server_list)
+    {
+        if (server.requires_transport<LOCATOR_KIND_TCPv4>())
+        {
+            // Check if a TCPv4 transport exists. Otherwise create it
+            fastdds::rtps::TCPTransportDescriptor* pT = nullptr;
+            std::shared_ptr<fastdds::rtps::TCPv4TransportDescriptor> p4;
+            bool no_tcpv4 = true;
+
+            for (auto sp : client_att.userTransports)
+            {
+                pT = dynamic_cast<fastdds::rtps::TCPTransportDescriptor*>(sp.get());
+
+                if (pT != nullptr)
+                {
+                    if (!p4)
+                    {
+                        if ((p4 = std::dynamic_pointer_cast<fastdds::rtps::TCPv4TransportDescriptor>(sp)))
+                        {
+                            // TCPv4 transport already exists
+                            no_tcpv4 = false;
+                            break;
+                        }
+                    }
+                }
+            }
+            if (no_tcpv4)
+            {
+                // Extend builtin transports with the TCPv4 transport
+                auto descriptor = std::make_shared<fastdds::rtps::TCPv4TransportDescriptor>();
+                // Add automatic port
+                descriptor->add_listener_port(0);
+                descriptor->sendBufferSize = client_att.sendSocketBufferSize;
+                descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
+                client_att.userTransports.push_back(std::move(descriptor));
+            }
+
+        }
+    }
+
     logInfo(DOMAIN, "Detected auto client-server environment variable."
-            "Trying to create client with the default server setup.");
+            << "Trying to create client with the default server setup");
 
     client_att.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
     // RemoteServerAttributes already fill in above