void PeriodicHeartbeat::event(EventCode code, const char* msg)
{
const char* const METHOD_NAME = "event";
if(code == EVENT_SUCCESS)
{
SequenceNumber_t firstSeq, lastSeq;
LocatorList_t locList;
bool unacked_changes = false;
{//BEGIN PROTECTION
boost::lock_guard<boost::recursive_mutex> guardW(*mp_SFW->getMutex());
std::vector<ChangeForReader_t*> unack;
for(std::vector<ReaderProxy*>::iterator it = mp_SFW->matchedReadersBegin();
it!=mp_SFW->matchedReadersEnd();++it)
{
unack.clear();
if(!unacked_changes)
{
(*it)->unacked_changes(&unack);
if(!unack.empty())
{
unacked_changes= true;
}
}
locList.push_back((*it)->m_att.endpoint.unicastLocatorList);
locList.push_back((*it)->m_att.endpoint.multicastLocatorList);
}
firstSeq = mp_SFW->get_seq_num_min();
lastSeq = mp_SFW->get_seq_num_max();
}
if(unacked_changes)
{
if(firstSeq != c_SequenceNumber_Unknown && lastSeq != c_SequenceNumber_Unknown && lastSeq >= firstSeq)
{
mp_SFW->incrementHBCount();
CDRMessage::initCDRMsg(&m_periodic_hb_msg);
RTPSMessageCreator::addMessageHeartbeat(&m_periodic_hb_msg,mp_SFW->getGuid().guidPrefix,
mp_SFW->getHBReaderEntityId(),mp_SFW->getGuid().entityId,
firstSeq,lastSeq,mp_SFW->getHeartbeatCount(),false,false);
logInfo(RTPS_WRITER,mp_SFW->getGuid().entityId << " Sending Heartbeat ("<<firstSeq<< " - " << lastSeq<<")" );
for (std::vector<Locator_t>::iterator lit = locList.begin(); lit != locList.end(); ++lit)
mp_SFW->getRTPSParticipant()->sendSync(&m_periodic_hb_msg, (*lit));
}
//Reset TIMER
this->restart_timer();
}
}
else if(code == EVENT_ABORT)
{
logInfo(RTPS_WRITER,"Aborted");
this->stopSemaphorePost();
}
else
{
logInfo(RTPS_WRITER,"Boost message: " <<msg);
}
}
bool PDPSimple::removeRemoteParticipant(GUID_t& partGUID)
{
const char* const METHOD_NAME = "removeRemoteParticipant";
logInfo(RTPS_PDP,partGUID,C_CYAN );
boost::unique_lock<boost::recursive_mutex> guardW(*this->mp_SPDPWriter->getMutex());
boost::unique_lock<boost::recursive_mutex> guardR(*this->mp_SPDPReader->getMutex());
ParticipantProxyData* pdata = nullptr;
//Remove it from our vector or RTPSParticipantProxies:
boost::unique_lock<boost::recursive_mutex> guardPDP(*this->mp_mutex);
for(std::vector<ParticipantProxyData*>::iterator pit = m_participantProxies.begin();
pit!=m_participantProxies.end();++pit)
{
boost::lock_guard<boost::recursive_mutex> guard(*(*pit)->mp_mutex);
if((*pit)->m_guid == partGUID)
{
pdata = *pit;
m_participantProxies.erase(pit);
break;
}
}
if(pdata !=nullptr)
{
pdata->mp_mutex->lock();
if(mp_EDP!=nullptr)
{
for(std::vector<ReaderProxyData*>::iterator rit = pdata->m_readers.begin();
rit!= pdata->m_readers.end();++rit)
{
mp_EDP->unpairReaderProxy(pdata, *rit);
}
for(std::vector<WriterProxyData*>::iterator wit = pdata->m_writers.begin();
wit!=pdata->m_writers.end();++wit)
{
mp_EDP->unpairWriterProxy(pdata, *wit);
}
}
if(mp_builtin->mp_WLP != nullptr)
this->mp_builtin->mp_WLP->removeRemoteEndpoints(pdata);
this->mp_EDP->removeRemoteEndpoints(pdata);
this->removeRemoteEndpoints(pdata);
for(std::vector<CacheChange_t*>::iterator it=this->mp_SPDPReaderHistory->changesBegin();
it!=this->mp_SPDPReaderHistory->changesEnd();++it)
{
if((*it)->instanceHandle == pdata->m_key)
{
this->mp_SPDPReaderHistory->remove_change(*it);
break;
}
}
pdata->mp_mutex->unlock();
guardPDP.unlock();
guardW.unlock();
guardR.unlock();
delete(pdata);
return true;
}
return false;
}
void PeriodicHeartbeat::event(EventCode code, const char* msg)
{
// Unused in release mode.
(void)msg;
if(code == EVENT_SUCCESS)
{
SequenceNumber_t firstSeq, lastSeq;
Count_t heartbeatCount = 0;
LocatorList_t locList;
bool unacked_changes = false;
{//BEGIN PROTECTION
boost::lock_guard<boost::recursive_mutex> guardW(*mp_SFW->getMutex());
for(std::vector<ReaderProxy*>::iterator it = mp_SFW->matchedReadersBegin();
it != mp_SFW->matchedReadersEnd(); ++it)
{
if(!unacked_changes)
{
if((*it)->thereIsUnacknowledged())
{
unacked_changes= true;
}
}
locList.push_back((*it)->m_att.endpoint.unicastLocatorList);
locList.push_back((*it)->m_att.endpoint.multicastLocatorList);
}
if (unacked_changes)
{
firstSeq = mp_SFW->get_seq_num_min();
lastSeq = mp_SFW->get_seq_num_max();
if (firstSeq == c_SequenceNumber_Unknown || lastSeq == c_SequenceNumber_Unknown)
{
firstSeq = mp_SFW->next_sequence_number();
lastSeq = SequenceNumber_t(0, 0);
}
else
{
(void)firstSeq;
assert(firstSeq <= lastSeq);
}
mp_SFW->incrementHBCount();
heartbeatCount = mp_SFW->getHeartbeatCount();
}
}
if (unacked_changes)
{
CDRMessage::initCDRMsg(&m_periodic_hb_msg);
// FinalFlag is always false because this class is used only by StatefulWriter in Reliable.
RTPSMessageCreator::addMessageHeartbeat(&m_periodic_hb_msg, mp_SFW->getGuid().guidPrefix,
mp_SFW->getHBReaderEntityId(), mp_SFW->getGuid().entityId,
firstSeq, lastSeq, heartbeatCount, false, false);
logInfo(RTPS_WRITER,mp_SFW->getGuid().entityId << " Sending Heartbeat ("<<firstSeq<< " - " << lastSeq<<")" );
for (std::vector<Locator_t>::iterator lit = locList.begin(); lit != locList.end(); ++lit)
mp_SFW->getRTPSParticipant()->sendSync(&m_periodic_hb_msg,(Endpoint *)mp_SFW , (*lit));
//Reset TIMER
this->restart_timer();
}
}
else if(code == EVENT_ABORT)
{
logInfo(RTPS_WRITER,"Aborted");
}
else
{
logInfo(RTPS_WRITER,"Boost message: " <<msg);
}
}
void PeriodicHeartbeat::event(EventCode code, const char* msg)
{
// Unused in release mode.
(void)msg;
if(code == EVENT_SUCCESS)
{
SequenceNumber_t firstSeq, lastSeq;
Count_t heartbeatCount = 0;
LocatorList_t locList;
bool unacked_changes = false;
std::vector<GUID_t> remote_readers;
{//BEGIN PROTECTION
std::lock_guard<std::recursive_mutex> guardW(*mp_SFW->getMutex());
for(std::vector<ReaderProxy*>::iterator it = mp_SFW->matchedReadersBegin();
it != mp_SFW->matchedReadersEnd(); ++it)
{
if(!unacked_changes)
{
if((*it)->thereIsUnacknowledged())
{
unacked_changes= true;
}
}
locList.push_back((*it)->m_att.endpoint.unicastLocatorList);
locList.push_back((*it)->m_att.endpoint.multicastLocatorList);
remote_readers.push_back((*it)->m_att.guid);
}
if (unacked_changes)
{
firstSeq = mp_SFW->get_seq_num_min();
lastSeq = mp_SFW->get_seq_num_max();
if (firstSeq == c_SequenceNumber_Unknown || lastSeq == c_SequenceNumber_Unknown)
{
return;
}
else
{
(void)firstSeq;
assert(firstSeq <= lastSeq);
}
mp_SFW->incrementHBCount();
heartbeatCount = mp_SFW->getHeartbeatCount();
// TODO(Ricardo) Use StatefulWriter::send_heartbeat_to_nts.
}
}
if (unacked_changes)
{
RTPSMessageGroup group(mp_SFW->getRTPSParticipant(), mp_SFW, RTPSMessageGroup::WRITER, m_cdrmessages);
// FinalFlag is always false because this class is used only by StatefulWriter in Reliable.
group.add_heartbeat(remote_readers,
firstSeq, lastSeq, heartbeatCount, false, false, locList);
logInfo(RTPS_WRITER,mp_SFW->getGuid().entityId << " Sending Heartbeat ("<<firstSeq<< " - " << lastSeq<<")" );
//Reset TIMER
this->restart_timer();
}
}
else if(code == EVENT_ABORT)
{
logInfo(RTPS_WRITER,"Aborted");
}
else
{
logInfo(RTPS_WRITER,"Event message: " << msg);
}
}
