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 RTPSParticipantImpl::assignEndpoint2LocatorList(Endpoint* endp,LocatorList_t& list,bool isMulti,bool isFixed)
{
bool valid = true;
LocatorList_t finalList;
bool added = false;
for(auto lit = list.begin();lit != list.end();++lit)
{
added = false;
boost::lock_guard<boost::recursive_mutex> guard(*mp_mutex);
for(std::vector<ListenResource*>::iterator it = m_listenResourceList.begin();it!=m_listenResourceList.end();++it)
{
if((*it)->isListeningTo(*lit))
{
(*it)->addAssociatedEndpoint(endp);
LocatorList_t locList = (*it)->getListenLocators();
finalList.push_back(locList);
added = true;
}
}
if(added)
continue;
ListenResource* LR = new ListenResource(this,++m_threadID,false);
if(LR->init_thread(this,*lit,m_att.listenSocketBufferSize,isMulti,isFixed))
{
LR->addAssociatedEndpoint(endp);
LocatorList_t locList = LR->getListenLocators();
finalList.push_back(locList);
m_listenResourceList.push_back(LR);
added = true;
}
else
{
delete(LR);
valid &= false;
}
}
if(valid && added)
list = finalList;
return valid;
}
bool RTPSParticipantImpl::assignLocatorForBuiltin_unsafe(LocatorList_t& list, bool isMulti, bool isFixed)
{
bool valid = true;
LocatorList_t finalList;
bool added = false;
for(auto lit = list.begin();lit != list.end();++lit)
{
added = false;
for(std::vector<ListenResource*>::iterator it = m_listenResourceList.begin();it!=m_listenResourceList.end();++it)
{
if((*it)->isListeningTo(*lit))
{
LocatorList_t locList = (*it)->getListenLocators();
finalList.push_back(locList);
added = true;
}
}
if(added)
continue;
ListenResource* LR = new ListenResource(this,++m_threadID,false);
if(LR->init_thread(this,*lit,m_att.listenSocketBufferSize,isMulti,isFixed))
{
LocatorList_t locList = LR->getListenLocators();
finalList.push_back(locList);
m_listenResourceList.push_back(LR);
added = true;
}
else
{
delete(LR);
valid &= false;
}
}
if(valid && added)
list = finalList;
return valid;
}
RTPSParticipantImpl::RTPSParticipantImpl(const RTPSParticipantAttributes& PParam,
const GuidPrefix_t& guidP,
RTPSParticipant* par,
RTPSParticipantListener* plisten): m_guid(guidP,c_EntityId_RTPSParticipant),
mp_send_thr(nullptr),
mp_event_thr(nullptr),
async_writers_thread_(nullptr),
mp_builtinProtocols(nullptr),
mp_ResourceSemaphore(new boost::interprocess::interprocess_semaphore(0)),
IdCounter(0),
mp_participantListener(plisten),
mp_userParticipant(par),
mp_mutex(new boost::recursive_mutex()),
m_threadID(0)
{
const char* const METHOD_NAME = "RTPSParticipantImpl";
boost::lock_guard<boost::recursive_mutex> guard(*mp_mutex);
mp_userParticipant->mp_impl = this;
m_att = PParam;
Locator_t loc;
loc.port = PParam.defaultSendPort;
mp_send_thr = new ResourceSend();
mp_send_thr->initSend(this,loc,m_att.sendSocketBufferSize,m_att.use_IP4_to_send,m_att.use_IP6_to_send);
mp_event_thr = new ResourceEvent();
mp_event_thr->init_thread(this);
async_writers_thread_ = new AsyncWriterThread();
bool hasLocatorsDefined = true;
//If no default locator is defined you define one.
if(m_att.defaultUnicastLocatorList.empty() && m_att.defaultMulticastLocatorList.empty())
{
hasLocatorsDefined = false;
Locator_t loc2;
loc2.port=m_att.port.portBase+
m_att.port.domainIDGain*PParam.builtin.domainId+
m_att.port.offsetd3+
m_att.port.participantIDGain*m_att.participantID;
loc2.kind = LOCATOR_KIND_UDPv4;
m_att.defaultUnicastLocatorList.push_back(loc2);
}
LocatorList_t defcopy = m_att.defaultUnicastLocatorList;
m_att.defaultUnicastLocatorList.clear();
for(LocatorListIterator lit = defcopy.begin();lit!=defcopy.end();++lit)
{
ListenResource* LR = new ListenResource(this,++m_threadID,true);
if(LR->init_thread(this,*lit,m_att.listenSocketBufferSize,false,false))
{
m_att.defaultUnicastLocatorList.push_back(LR->getListenLocators());
this->m_listenResourceList.push_back(LR);
}
else
{
delete(LR);
}
}
if(!hasLocatorsDefined)
logInfo(RTPS_PARTICIPANT,m_att.getName()<<" Created with NO default Unicast Locator List, adding Locators: "<<m_att.defaultUnicastLocatorList);
defcopy = m_att.defaultMulticastLocatorList;
m_att.defaultMulticastLocatorList.clear();
for(LocatorListIterator lit = defcopy.begin();lit!=defcopy.end();++lit)
{
ListenResource* LR = new ListenResource(this,++m_threadID,true);
if(LR->init_thread(this,*lit,m_att.listenSocketBufferSize,true,false))
{
m_att.defaultMulticastLocatorList.push_back(LR->getListenLocators());
this->m_listenResourceList.push_back(LR);
}
else
{
delete(LR);
}
}
logInfo(RTPS_PARTICIPANT,"RTPSParticipant \"" << m_att.getName() << "\" with guidPrefix: " <<m_guid.guidPrefix);
//START BUILTIN PROTOCOLS
mp_builtinProtocols = new BuiltinProtocols();
if(!mp_builtinProtocols->initBuiltinProtocols(this,m_att.builtin))
{
logWarning(RTPS_PARTICIPANT, "The builtin protocols were not corecctly initialized");
}
//eClock::my_sleep(300);
}
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);
}
}
bool BuiltinProtocols::initBuiltinProtocols(RTPSParticipantImpl* p_part, BuiltinAttributes& attributes)
{
//const char* const METHOD_NAME = "initBuiltinProtocols";
mp_participantImpl = p_part;
m_att = attributes;
m_SPDP_WELL_KNOWN_MULTICAST_PORT = mp_participantImpl->getAttributes().port.getMulticastPort(m_att.domainId);
m_SPDP_WELL_KNOWN_UNICAST_PORT =
mp_participantImpl->getAttributes().port.getUnicastPort(m_att.domainId,mp_participantImpl->getAttributes().participantID);
this->m_mandatoryMulticastLocator.kind = LOCATOR_KIND_UDPv4;
m_mandatoryMulticastLocator.port = m_SPDP_WELL_KNOWN_MULTICAST_PORT;
m_mandatoryMulticastLocator.set_IP4_address(239,255,0,1);
if(m_att.metatrafficMulticastLocatorList.empty())
{
m_metatrafficMulticastLocatorList.push_back(m_mandatoryMulticastLocator);
}
else
{
m_useMandatory = false;
for(std::vector<Locator_t>::iterator it = m_att.metatrafficMulticastLocatorList.begin();
it!=m_att.metatrafficMulticastLocatorList.end(); ++it)
{
m_metatrafficMulticastLocatorList.push_back(*it);
}
}
p_part->assignLocatorForBuiltin_unsafe(m_metatrafficMulticastLocatorList, true, false);
if(m_att.metatrafficUnicastLocatorList.empty())
{
LocatorList_t locators;
IPFinder::getIP4Address(&locators);
for(std::vector<Locator_t>::iterator it=locators.begin(); it!=locators.end(); ++it)
{
it->port = m_SPDP_WELL_KNOWN_UNICAST_PORT;
m_metatrafficUnicastLocatorList.push_back(*it);
}
}
else
{
for(std::vector<Locator_t>::iterator it = m_att.metatrafficUnicastLocatorList.begin();
it!=m_att.metatrafficUnicastLocatorList.end(); ++it)
{
m_metatrafficUnicastLocatorList.push_back(*it);
}
}
p_part->assignLocatorForBuiltin_unsafe(m_metatrafficUnicastLocatorList, false, false);
if(m_att.use_SIMPLE_RTPSParticipantDiscoveryProtocol)
{
mp_PDP = new PDPSimple(this);
mp_PDP->initPDP(mp_participantImpl);
if(m_att.use_WriterLivelinessProtocol)
{
mp_WLP = new WLP(this);
mp_WLP->initWL(mp_participantImpl);
}
mp_PDP->announceParticipantState(true);
mp_PDP->resetParticipantAnnouncement();
}
return true;
}
