[10778] <2.2.x> Backport discovery service fixes

include/fastdds/rtps/attributes/RTPSParticipantAttributes.h

@@ -61,8 +61,10 @@ typedef enum DiscoveryProtocol
                  Server locators should be specified as attributes. */
     SERVER, /*!< The participant will behave as a server concerning discovery operation.
                  Discovery operation is volatile (discovery handshake must take place if shutdown). */
-    BACKUP  /*!< The participant will behave as a server concerning discovery operation.
+    BACKUP,  /*!< The participant will behave as a server concerning discovery operation.
                  Discovery operation persist on a file (discovery handshake wouldn't repeat if shutdown). */
+    SUPER_CLIENT  /*!< The participant will behave as a client concerning all internal behaviour.
+                     Remote servers will treat it as a server and will share every discovery information. */
 
 } DiscoveryProtocol_t;
 

include/fastdds/rtps/attributes/ServerAttributes.h

@@ -106,13 +106,13 @@ typedef std::list<RemoteServerAttributes> RemoteServerList_t;
 // 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 = "44.49.53.43.53.45.52.56.45.52.5F.30";
+const char* const DEFAULT_ROS2_SERVER_GUIDPREFIX = "44.53.00.5f.45.50.52.4f.53.49.4d.41";
 
 /**
  * Retrieves a ; separated list of locators from an environment variable and
  * populates a RemoteServerList_t mapping list position to default guid.
  * @param list servers listening locator list provided.
- * @param attributes referenct to a RemoteServerList_t to populate.
+ * @param attributes reference to a RemoteServerList_t to populate.
  * @return true if parsing succeeds
  */
 RTPS_DllAPI bool load_environment_server_info(

include/fastdds/rtps/builtin/discovery/participant/PDP.h

@@ -49,6 +49,7 @@ struct ParticipantType
     static const char SERVER[];
     static const char CLIENT[];
     static const char BACKUP[];
+    static const char SUPER_CLIENT[];
 };
 
 } // namespace rtps

include/fastdds/rtps/common/GuidPrefix_t.hpp

@@ -25,6 +25,7 @@
 #include <cstdint>
 #include <cstring>
 #include <sstream>
+#include <iomanip>
 
 namespace eprosima {
 namespace fastrtps {
@@ -93,11 +94,13 @@ inline std::ostream& operator <<(
         const GuidPrefix_t& guiP)
 {
     output << std::hex;
+    char old_fill = output.fill('0');
     for (uint8_t i = 0; i < 11; ++i)
     {
-        output << (int)guiP.value[i] << ".";
+        output << std::setw(2) << (int)guiP.value[i] << ".";
     }
-    output << (int)guiP.value[11];
+    output << std::setw(2) << (int)guiP.value[11];
+    output.fill(old_fill);
     return output << std::dec;
 }
 

include/fastrtps/xmlparser/XMLParserCommon.h

@@ -264,6 +264,7 @@ extern const char* NONE;
 extern const char* CLIENT;
 extern const char* SERVER;
 extern const char* BACKUP;
+extern const char* SUPER_CLIENT;
 extern const char* IGNORE_PARTICIPANT_FLAGS;
 extern const char* FILTER_DIFFERENT_HOST;
 extern const char* FILTER_DIFFERENT_PROCESS;

resources/xsd/fastRTPS_profiles.xsd

@@ -299,6 +299,7 @@
             <xs:enumeration value="CLIENT"/>
             <xs:enumeration value="SERVER"/>
             <xs:enumeration value="BACKUP"/>
+            <xs:enumeration value="SUPER_CLIENT"/>
         </xs:restriction>
     </xs:simpleType>
 

src/cpp/rtps/builtin/BuiltinProtocols.cpp

@@ -114,6 +114,10 @@ bool BuiltinProtocols::initBuiltinProtocols(
             break;
 #endif // if HAVE_SQLITE3
 
+        case DiscoveryProtocol_t::SUPER_CLIENT:
+            mp_PDP = new fastdds::rtps::PDPClient(this, allocation, true);
+            break;
+
         default:
             logError(RTPS_PDP, "Unknown DiscoveryProtocol_t specified.");
             return false;

src/cpp/rtps/builtin/discovery/database/DiscoveryParticipantChangeData.hpp

@@ -82,7 +82,9 @@ class DiscoveryParticipantChangeData
 
     // The metatraffic locators of from the serialized payload
     fastrtps::rtps::RemoteLocatorList metatraffic_locators_;
-    // Whether this participant is a CLIENT or a SERVER
+    // Whether this participant is a CLIENT or a SERVER/BACKUP/SUPER_CLIENT
+    // This variable affects the discovery filter applied to each entity:
+    // false => send all data ; true => send only data that is required to match endpoints
     bool is_client_ = false;
     // Whether this participant (CLIENT OR SERVER) is a client of this server
     bool is_local_ = false;

src/cpp/rtps/builtin/discovery/participant/PDP.cpp

@@ -72,6 +72,7 @@ const char ParticipantType::SIMPLE[] = "SIMPLE";
 const char ParticipantType::SERVER[] = "SERVER";
 const char ParticipantType::CLIENT[] = "CLIENT";
 const char ParticipantType::BACKUP[] = "BACKUP";
+const char ParticipantType::SUPER_CLIENT[] = "SUPER_CLIENT";
 
 } // namespace rtps
 } // namespace fastdds

src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp

@@ -51,10 +51,12 @@ using namespace fastrtps::rtps;
 
 PDPClient::PDPClient(
         BuiltinProtocols* builtin,
-        const RTPSParticipantAllocationAttributes& allocation)
+        const RTPSParticipantAllocationAttributes& allocation,
+        bool super_client)
     : PDP(builtin, allocation)
     , mp_sync(nullptr)
     , _serverPing(false)
+    , _super_client(super_client)
 {
 }
 
@@ -71,7 +73,12 @@ void PDPClient::initializeParticipantProxyData(
 {
     PDP::initializeParticipantProxyData(participant_data); // TODO: Remember that the PDP version USES security
 
-    if (getRTPSParticipant()->getAttributes().builtin.discovery_config.discoveryProtocol != DiscoveryProtocol_t::CLIENT)
+    if (
+        getRTPSParticipant()->getAttributes().builtin.discovery_config.discoveryProtocol
+        != DiscoveryProtocol_t::CLIENT
+        &&
+        getRTPSParticipant()->getAttributes().builtin.discovery_config.discoveryProtocol
+        != DiscoveryProtocol_t::SUPER_CLIENT    )
     {
         logError(RTPS_PDP, "Using a PDP client object with another user's settings");
     }
@@ -91,8 +98,18 @@ void PDPClient::initializeParticipantProxyData(
     }
 
     // Set participant type and discovery server version properties
-    participant_data->m_properties.push_back(std::pair<std::string,
-            std::string>({fastdds::dds::parameter_property_participant_type, fastdds::rtps::ParticipantType::CLIENT}));
+    if (_super_client)
+    {
+        participant_data->m_properties.push_back(std::pair<std::string,
+                std::string>(
+                    {fastdds::dds::parameter_property_participant_type, fastdds::rtps::ParticipantType::SUPER_CLIENT}));
+    }
+    else
+    {
+        participant_data->m_properties.push_back(std::pair<std::string,
+                std::string>({fastdds::dds::parameter_property_participant_type,
+                              fastdds::rtps::ParticipantType::CLIENT}));
+    }
     participant_data->m_properties.push_back(std::pair<std::string,
             std::string>({fastdds::dds::parameter_property_ds_version,
                           fastdds::dds::parameter_property_current_ds_version}));
@@ -716,8 +733,8 @@ bool get_server_client_default_guidPrefix(
             && id < 256
             && std::istringstream(DEFAULT_ROS2_SERVER_GUIDPREFIX) >> guid)
     {
-        // Last octet denotes the default server id but to ease debugging it starts on char '0' = 48
-        guid.value[11] = static_cast<octet>((48 + id) % 256);
+        // Third octet denotes the server id
+        guid.value[2] = static_cast<octet>(id);
 
         return true;
     }

src/cpp/rtps/builtin/discovery/participant/PDPClient.h

@@ -52,7 +52,8 @@ class PDPClient : public PDP
      */
     PDPClient(
             BuiltinProtocols* builtin,
-            const RTPSParticipantAllocationAttributes& allocation);
+            const RTPSParticipantAllocationAttributes& allocation,
+            bool super_client = false);
     ~PDPClient();
 
     void initializeParticipantProxyData(
@@ -139,6 +140,9 @@ class PDPClient : public PDP
 
     //! flag to hightlight we need a server ping announcement
     bool _serverPing;
+
+    //! flag to know this client must use super client participant type
+    bool _super_client;
 };
 
 } /* namespace rtps */

src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp

@@ -352,8 +352,11 @@ void PDPServer::initializeParticipantProxyData(
 {
     PDP::initializeParticipantProxyData(participant_data);
 
-    if (!(getRTPSParticipant()->getAttributes().builtin.discovery_config.discoveryProtocol !=
-            DiscoveryProtocol_t::CLIENT))
+    if (getRTPSParticipant()->getAttributes().builtin.discovery_config.discoveryProtocol !=
+            DiscoveryProtocol_t::SERVER
+            &&
+            getRTPSParticipant()->getAttributes().builtin.discovery_config.discoveryProtocol !=
+            DiscoveryProtocol_t::BACKUP)
     {
         logError(RTPS_PDP_SERVER, "Using a PDP Server object with another user's settings");
     }

src/cpp/rtps/builtin/discovery/participant/PDPServerListener.cpp

@@ -178,7 +178,8 @@ void PDPServerListener::onNewCacheChangeAdded(
             if (participant_type != properties.end())
             {
                 if (participant_type->second() == ParticipantType::SERVER ||
-                        participant_type->second() == ParticipantType::BACKUP)
+                        participant_type->second() == ParticipantType::BACKUP ||
+                        participant_type->second() == ParticipantType::SUPER_CLIENT)
                 {
                     is_client = false;
                 }

src/cpp/rtps/participant/RTPSParticipantImpl.cpp

@@ -155,6 +155,7 @@ RTPSParticipantImpl::RTPSParticipantImpl(
         case DiscoveryProtocol::BACKUP:
         case DiscoveryProtocol::CLIENT:
         case DiscoveryProtocol::SERVER:
+        case DiscoveryProtocol::SUPER_CLIENT:
             // Verify if listening ports are provided
             for (auto& transportDescriptor : PParam.userTransports)
             {

src/cpp/rtps/xmlparser/XMLElementParser.cpp

@@ -3331,6 +3331,7 @@ XMLP_ret XMLParser::getXMLEnum(
                 <xs:enumeration value="CLIENT"/>
                 <xs:enumeration value="SERVER"/>
                 <xs:enumeration value="BACKUP"/>
+                <xs:enumeration value="SUPER_CLIENT"/>
             </xs:restriction>
         </xs:simpleType>
      */
@@ -3367,6 +3368,10 @@ XMLP_ret XMLParser::getXMLEnum(
     {
         *e = DiscoveryProtocol_t::BACKUP;
     }
+    else if (strcmp(text, SUPER_CLIENT) == 0)
+    {
+        *e = DiscoveryProtocol_t::SUPER_CLIENT;
+    }
     else
     {
         logError(XMLPARSER, "Node '" << RTPS_PDP_TYPE << "' with bad content");

src/cpp/rtps/xmlparser/XMLParserCommon.cpp

@@ -248,6 +248,7 @@ const char* NONE = "NONE";
 const char* CLIENT = "CLIENT";
 const char* SERVER = "SERVER";
 const char* BACKUP = "BACKUP";
+const char* SUPER_CLIENT = "SUPER_CLIENT";
 const char* IGNORE_PARTICIPANT_FLAGS = "ignoreParticipantFlags";
 const char* FILTER_DIFFERENT_HOST = "FILTER_DIFFERENT_HOST";
 const char* FILTER_DIFFERENT_PROCESS = "FILTER_DIFFERENT_PROCESS";

test/blackbox/common/RTPSBlackboxTestsPersistenceGuid.cpp

@@ -211,7 +211,8 @@ TEST_P(PersistenceGuid, CheckPrevalenceBetweenManualAndPropertyConfiguration)
 
     // Check if there is one entry in the writers database table with the stated persistence guid
     result1 =
-            system("python check_guid.py \"persistence.db\" \"writers_histories\" \"0.0.0.0.0.0.0.0.0.0.0.1|0.0.0.1\"");
+            system(
+        "python check_guid.py \"persistence.db\" \"writers_histories\" \"00.00.00.00.00.00.00.00.00.00.00.01|0.0.0.1\"");
     ASSERT_EQ(result1, 1);
 
     // Check if that there is no entry in the readers database table with the stated persistence guid
@@ -220,7 +221,8 @@ TEST_P(PersistenceGuid, CheckPrevalenceBetweenManualAndPropertyConfiguration)
     ASSERT_EQ(result2, 0);
 
     // Check if there is one entry in the readers database table with the stated persistence guid
-    result2 = system("python check_guid.py \"persistence.db\" \"readers\" \"0.0.0.0.0.0.0.0.0.0.0.2|0.0.0.1\"");
+    result2 = system(
+        "python check_guid.py \"persistence.db\" \"readers\" \"00.00.00.00.00.00.00.00.00.00.00.02|0.0.0.1\"");
     ASSERT_EQ(result2, 1);
 #else
 
@@ -230,7 +232,8 @@ TEST_P(PersistenceGuid, CheckPrevalenceBetweenManualAndPropertyConfiguration)
     ASSERT_EQ((result1 >> 8), 0);
 
     // Check if there is one entry in the writers database table with the stated persistence guid
-    result1 = system("python3 check_guid.py 'persistence.db' 'writers_histories' '0.0.0.0.0.0.0.0.0.0.0.1|0.0.0.1'");
+    result1 = system(
+        "python3 check_guid.py 'persistence.db' 'writers_histories' '00.00.00.00.00.00.00.00.00.00.00.01|0.0.0.1'");
     ASSERT_EQ((result1 >> 8), 1);
 
     // Check if that there is no entry in the readers database table with the stated persistence guid
@@ -239,7 +242,7 @@ TEST_P(PersistenceGuid, CheckPrevalenceBetweenManualAndPropertyConfiguration)
     ASSERT_EQ((result2 >> 8), 0);
 
     // Check if there is one entry in the readers database table with the stated persistence guid
-    result2 = system("python3 check_guid.py 'persistence.db' 'readers' '0.0.0.0.0.0.0.0.0.0.0.2|0.0.0.1'");
+    result2 = system("python3 check_guid.py 'persistence.db' 'readers' '00.00.00.00.00.00.00.00.00.00.00.02|0.0.0.1'");
     ASSERT_EQ((result2 >> 8), 1);
 #endif // WIN32
 }

test/unittest/xmlparser/XMLElementParserTests.cpp

@@ -3174,6 +3174,7 @@ TEST_F(XMLParserTests, getXMLOctetVector_NegativeClauses)
  *      2. CLIENT
  *      3. SERVER
  *      4. BACKUP
+ *      5. SUPER_CLIENT
  * 3. Check XMLEnum with arg ParticipantFilteringFlags_t
  *      1. FILTER_DIFFERENT_PROCESS
  */
@@ -3249,6 +3250,13 @@ TEST_F(XMLParserTests, getXMLEnum_positive)
         titleElement = xml_doc.RootElement();
         EXPECT_EQ(XMLP_ret::XML_OK, XMLParserTest::getXMLEnum_wrapper(titleElement, &e, ident));
         EXPECT_EQ(DiscoveryProtocol_t::BACKUP, e);
+
+        // SUPER_CLIENT case
+        sprintf(xml, enum_p, "SUPER_CLIENT");
+        ASSERT_EQ(tinyxml2::XMLError::XML_SUCCESS, xml_doc.Parse(xml));
+        titleElement = xml_doc.RootElement();
+        EXPECT_EQ(XMLP_ret::XML_OK, XMLParserTest::getXMLEnum_wrapper(titleElement, &e, ident));
+        EXPECT_EQ(DiscoveryProtocol_t::SUPER_CLIENT, e);
     }
 
     // ParticipantFilteringFlags_t Enum

tools/fds/server.cpp

@@ -27,6 +27,7 @@
 #include <csignal>
 
 #include <fastrtps/Domain.h>
+#include <fastrtps/participant/Participant.h>
 #include <fastdds/dds/log/Log.hpp>
 
 using namespace eprosima;
@@ -99,6 +100,7 @@ int main (
     // Retrieve server Id: is mandatory and only specified once
     // Note there is a specific cast to pointer if the Option is valid
     option::Option* pOp = options[SERVERID];
+    int server_id;
 
     if ( nullptr == pOp )
     {
@@ -112,7 +114,6 @@ int main (
     }
     else
     {
-        int server_id;
         stringstream is;
         is << pOp->arg;
 
@@ -211,7 +212,6 @@ int main (
     // Create the server
     int return_value = 0;
     Participant* pServer = Domain::createParticipant(*att, nullptr);
-    att.reset();
 
     if ( nullptr == pServer )
     {
@@ -224,7 +224,22 @@ int main (
 
         // handle signal SIGINT for every thread
         signal(SIGINT, sigint_handler);
-        cout << endl << "\n### Server is running ###" << endl;
+        // Print running server attributes
+        cout << "### Server is running ###" << endl;
+        cout << "  Server ID:          " << server_id << endl;
+        cout << "  Server GUID prefix: " << pServer->getGuid().guidPrefix << endl;
+        cout << "  Server Addresses:   ";
+        for (auto locator_it = att->rtps.builtin.metatrafficUnicastLocatorList.begin();
+                locator_it != att->rtps.builtin.metatrafficUnicastLocatorList.end();)
+        {
+            cout << *locator_it;
+            if (++locator_it != att->rtps.builtin.metatrafficUnicastLocatorList.end())
+            {
+                cout << std::endl << "                      ";
+            }
+        }
+        cout << std::endl;
+
 
         g_signal_cv.wait(lock, []
                 {
@@ -234,6 +249,7 @@ int main (
         cout << endl << "### Server shut down ###" << endl;
     }
 
+    att.reset();
     fastdds::dds::Log::Flush();
     cout.flush();
     Domain::stopAll();