Manually fix a set of Topic QoS, and implement the max-tx-rate, max-r…

…x-rate, and downsampling (#403) * Max-reception-rate & downsampling Signed-off-by: tempate <[email protected]> * Documentation Signed-off-by: tempate <[email protected]> * Add features to forthcoming verison Signed-off-by: tempate <[email protected]> * Unittests Signed-off-by: tempate <[email protected]> * Rename max-reception-rate to max-rx-rate Signed-off-by: tempate <[email protected]> * Load manual topic configuration into participants Signed-off-by: tempate <[email protected]> * Support Max Transmission Rate configuration Signed-off-by: tempate <[email protected]> * Minor fixes Signed-off-by: tempate <[email protected]> * Max transmission rate documentation Signed-off-by: tempate <[email protected]> * Manual topics documentation Signed-off-by: tempate <[email protected]> * Manual topics configuration Signed-off-by: tempate <[email protected]> * Make the DdsPipeConfiguration required Signed-off-by: tempate <[email protected]> * Simplify the DdsPipe's constructor Signed-off-by: tempate <[email protected]> * Remove redundant test Signed-off-by: tempate <[email protected]> * Docker tests for the configurable frequency Signed-off-by: tempate <[email protected]> * Docker test for the manual topics Signed-off-by: tempate <[email protected]> * Minor fixes Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * More docker tests Signed-off-by: tempate <[email protected]> * Pack the QoSs in specs on a Topic QoS object Signed-off-by: tempate <[email protected]> * Configure the QoS in specs under the qos tag Signed-off-by: tempate <[email protected]> * Minor corrections to the documentation Signed-off-by: tempate <[email protected]> * Minor fixes Signed-off-by: tempate <[email protected]> * Rewrite topic filtering & simplify builtin topics Signed-off-by: tempate <[email protected]> * Minor fixes to the documentation Signed-off-by: tempate <[email protected]> * Uncrustify Signed-off-by: tempate <[email protected]> * Slow down manual topics precedence test Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Slow down docker test Signed-off-by: tempate <[email protected]> * Remove Topic QoS from the built-in topics Signed-off-by: tempate <[email protected]> * Update version from v3.1 to v4.0 Signed-off-by: tempate <[email protected]> * Apply DdsPipe suggestions Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Apply suggestions Signed-off-by: tempate <[email protected]> * Apply more suggestions Signed-off-by: tempate <[email protected]> * Minor fixes to the version update Signed-off-by: tempate <[email protected]> * Deactivate outdated tests in CMake Signed-off-by: tempate <[email protected]> * Minor fixes to YAML version Signed-off-by: tempate <[email protected]> * Remove Topic Filtering outdated note Signed-off-by: tempate <[email protected]> * Fix python-linter errors Signed-off-by: tempate <[email protected]> * Uncrustify Signed-off-by: Juan Lopez Fernandez <[email protected]> --------- Signed-off-by: tempate <[email protected]> Signed-off-by: Juan Lopez Fernandez <[email protected]> Co-authored-by: Juan Lopez Fernandez <[email protected]>
eProsima · Nov 8, 2023 · 6140c85 · 6140c85
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diff --git a/ddsrouter_core/README.md b/ddsrouter_core/README.md
@@ -9,8 +9,8 @@ Include module is the public API used to configure a DDS Router and to interact
 
 * **Configuration**: configuration objects that contains the information needed for a DDS Router. Are divided in:
   * *ParticipantConfiguration*: configuration for each participant inside the DDS Router.
-  * *DdsRouterConfiguration*: configuration to execute a DDS Router, with its Participants and allowed lists.
-  * *DdsRouterReloadConfiguration*: configuration to change topics in a running DDS Router.
+  * *DdsRouterConfiguration*: configuration to execute a DDS Router, with its Participants and DdsPipeConfiguration.
+  * *DdsPipeConfiguration*: configuration to execute a DDS Pipe, with its allowlist, blocklist, manual topics, and built-in topics.
 
 * **Core**: it only contains the proxy of DDS Router class, which implementation is inside private modules.
   It allows to execute a DDS Router, and to interact with it while running.

diff --git a/ddsrouter_core/include/ddsrouter_core/configuration/DdsRouterConfiguration.hpp b/ddsrouter_core/include/ddsrouter_core/configuration/DdsRouterConfiguration.hpp
@@ -23,7 +23,6 @@
 #include <ddspipe_participants/configuration/ParticipantConfiguration.hpp>
 #include <ddspipe_participants/xml/XmlHandlerConfiguration.hpp>
 
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/configuration/SpecsConfiguration.hpp>
 #include <ddsrouter_core/types/ParticipantKind.hpp>
 
@@ -35,11 +34,11 @@ namespace core {
 
 /**
  * This data struct joins every DdsRouter feature configuration such as:
- * - Modifiable values (from \c DdsRouterReloadConfiguration ).
+ * - DdsPipe configuration.
  * - Participant configurations.
  * - Advanced configurations.
  */
-struct DdsRouterConfiguration : public DdsRouterReloadConfiguration
+struct DdsRouterConfiguration : public ddspipe::core::IConfiguration
 {
 
     /////////////////////////
@@ -53,10 +52,6 @@ struct DdsRouterConfiguration : public DdsRouterReloadConfiguration
     // METHODS
     /////////////////////////
 
-    //! Set internal values with the values reloaded
-    DDSROUTER_CORE_DllAPI void reload(
-            const DdsRouterReloadConfiguration& new_configuration);
-
     //! Override \c is_valid method.
     DDSROUTER_CORE_DllAPI bool is_valid(
             utils::Formatter& error_msg) const noexcept override;
@@ -65,9 +60,6 @@ struct DdsRouterConfiguration : public DdsRouterReloadConfiguration
     // VARIABLES
     /////////////////////////
 
-    //! Builtin topics to create at the beggining of the execution
-    std::set<utils::Heritable<ddspipe::core::types::DistributedTopic>> builtin_topics {};
-
     //! Participant configurations
     std::set<
         std::pair<

diff --git a/ddsrouter_core/include/ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp b/ddsrouter_core/include/ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp
diff --git a/ddsrouter_core/include/ddsrouter_core/configuration/SpecsConfiguration.hpp b/ddsrouter_core/include/ddsrouter_core/configuration/SpecsConfiguration.hpp
@@ -55,13 +55,6 @@ struct SpecsConfiguration : public ddspipe::core::IConfiguration
 
     unsigned int number_of_threads = 12;
 
-    /**
-     * @brief Maximum of History depth by default in those topics where it is not specified.
-     *
-     * @note Default value is 5000 as in Fast DDS.
-     */
-    ddspipe::core::types::HistoryDepthType max_history_depth = 5000;
-
     /**
      * @brief Whether readers that aren't connected to any writers should be deleted.
      *
@@ -70,6 +63,9 @@ struct SpecsConfiguration : public ddspipe::core::IConfiguration
      * @warning Setting it to true is incompatible with transient-local durability.
      */
     bool remove_unused_entities = false;
+
+    //! The globally configured Topic QoS.
+    ddspipe::core::types::TopicQoS topic_qos{};
 };
 
 } /* namespace core */

diff --git a/ddsrouter_core/include/ddsrouter_core/core/DdsRouter.hpp b/ddsrouter_core/include/ddsrouter_core/core/DdsRouter.hpp
@@ -26,7 +26,6 @@
 
 #include <ddsrouter_core/core/ParticipantFactory.hpp>
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/library/library_dll.h>
 
 namespace eprosima {
@@ -78,7 +77,7 @@ class DdsRouter
      * @throw \c ConfigurationException in case the new yaml is not well-formed
      */
     DDSROUTER_CORE_DllAPI utils::ReturnCode reload_configuration(
-            const DdsRouterReloadConfiguration& configuration);
+            const DdsRouterConfiguration& configuration);
 
     /**
      * @brief Start communication in DDS Router
@@ -104,13 +103,6 @@ class DdsRouter
 
 protected:
 
-    /**
-     * @brief Load allowed topics from configuration
-     *
-     * @throw \c ConfigurationException in case the yaml inside allowlist is not well-formed
-     */
-    void init_allowed_topics_();
-
     /**
      * @brief  Create participants and add them to the participants database
      *
@@ -119,6 +111,7 @@ class DdsRouter
      */
     void init_participants_();
 
+
     DdsRouterConfiguration configuration_;
 
     std::shared_ptr<ddspipe::core::DiscoveryDatabase> discovery_database_;

diff --git a/ddsrouter_core/src/cpp/configuration/DdsRouterConfiguration.cpp b/ddsrouter_core/src/cpp/configuration/DdsRouterConfiguration.cpp
@@ -25,29 +25,15 @@
 #include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
 
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/types/ParticipantKind.hpp>
 
 namespace eprosima {
 namespace ddsrouter {
 namespace core {
 
-void DdsRouterConfiguration::reload(
-        const DdsRouterReloadConfiguration& new_configuration)
-{
-    this->allowlist = new_configuration.allowlist;
-    this->blocklist = new_configuration.blocklist;
-}
-
 bool DdsRouterConfiguration::is_valid(
         utils::Formatter& error_msg) const noexcept
 {
-    // Check Allow list topics
-    if (!DdsRouterReloadConfiguration::is_valid(error_msg))
-    {
-        return false;
-    }
-
     // Check there are at least two participants
     if (participants_configurations.size() < 1)
     {

diff --git a/ddsrouter_core/src/cpp/configuration/DdsRouterReloadConfiguration.cpp b/ddsrouter_core/src/cpp/configuration/DdsRouterReloadConfiguration.cpp
diff --git a/ddsrouter_core/src/cpp/configuration/SpecsConfiguration.cpp b/ddsrouter_core/src/cpp/configuration/SpecsConfiguration.cpp
@@ -35,7 +35,7 @@ bool SpecsConfiguration::is_valid(
         return false;
     }
 
-    if (max_history_depth == 0)
+    if (topic_qos.history_depth == 0U)
     {
         logWarning(DDSROUTER_SPECS, "Using non limited histories could lead to memory exhaustion in long executions.");
     }

diff --git a/ddsrouter_core/src/cpp/core/DdsRouter.cpp b/ddsrouter_core/src/cpp/core/DdsRouter.cpp
@@ -27,7 +27,6 @@
 #include <ddspipe_core/types/dds/TopicQoS.hpp>
 
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/core/DdsRouter.hpp>
 
 namespace eprosima {
@@ -53,38 +52,20 @@ DdsRouter::DdsRouter(
                       "Configuration for DDS Router is invalid: " << error_msg);
     }
 
-    // Set default value for history
-    ddspipe::core::types::TopicQoS::default_history_depth.store(
-        configuration_.advanced_options.max_history_depth);
-
-    // Init topic allowed
-    init_allowed_topics_();
     // Load Participants
     init_participants_();
 
-    // Create DdsPipe instance
+    // Initialize the DdsPipe
     ddspipe_ = std::unique_ptr<ddspipe::core::DdsPipe>(new ddspipe::core::DdsPipe(
-                        allowed_topics_,
+                        configuration_.ddspipe_configuration,
                         discovery_database_,
                         payload_pool_,
                         participants_database_,
-                        thread_pool_,
-                        configuration_.builtin_topics,
-                        false,
-                        configuration_.ddspipe_configuration));
+                        thread_pool_));
 
     logDebug(DDSROUTER, "DDS Router created.");
 }
 
-void DdsRouter::init_allowed_topics_()
-{
-    allowed_topics_ = std::make_shared<ddspipe::core::AllowedTopicList>(
-        configuration_.allowlist,
-        configuration_.blocklist);
-
-    logInfo(DDSROUTER, "DDS Router configured with allowed topics: " << *allowed_topics_);
-}
-
 void DdsRouter::init_participants_()
 {
     for (std::pair<types::ParticipantKind,
@@ -125,7 +106,7 @@ void DdsRouter::init_participants_()
 }
 
 utils::ReturnCode DdsRouter::reload_configuration(
-        const DdsRouterReloadConfiguration& new_configuration)
+        const DdsRouterConfiguration& new_configuration)
 {
     // Check that the configuration is correct
     utils::Formatter error_msg;
@@ -136,11 +117,8 @@ utils::ReturnCode DdsRouter::reload_configuration(
                       "Configuration for Reload DDS Router is invalid: " << error_msg);
     }
 
-    allowed_topics_ = std::make_shared<ddspipe::core::AllowedTopicList>(
-        new_configuration.allowlist,
-        new_configuration.blocklist);
-
-    return ddspipe_->reload_allowed_topics(allowed_topics_);
+    // Reload the DdsPipe configuration, since it is the only reconfigurable attribute.
+    return ddspipe_->reload_configuration(new_configuration.ddspipe_configuration);
 }
 
 utils::ReturnCode DdsRouter::start() noexcept

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/WAN/DDSTestWAN.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/WAN/DDSTestWAN.cpp
@@ -236,7 +236,7 @@ DdsRouterConfiguration router_configuration(
     // One topic
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     // Two participants, one custom and other simple. If server, simple will work in 0, if not in 1

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
@@ -55,7 +55,7 @@ DdsRouterConfiguration dds_test_simple_configuration(
     // Always filter the test topics by topic name
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     if (disable_dynamic_discovery)
@@ -81,8 +81,9 @@ DdsRouterConfiguration dds_test_simple_configuration(
         topic_keyed.type_name = "HelloWorldKeyed";
         topic_keyed.topic_qos.keyed = true;
 
-        conf.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
-        conf.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic_keyed));
+        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
+        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
+                    topic_keyed));
     }
 
     // Two simple participants

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp
@@ -54,7 +54,7 @@ DdsRouterConfiguration dds_test_simple_configuration()
     // Always filter the test topics by topic name
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     // Two simple participants

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/DDSTestRepeater.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/DDSTestRepeater.cpp
@@ -129,7 +129,7 @@ DdsRouterConfiguration router_configuration(
     // One topic
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     // Two participants, one custom and other simple. If server, simple will work in 0, if not in 1