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Allow connecting to server with TCP [12794] #131

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Allow connecting to server with TCP [12794] #131

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53 changes: 50 additions & 3 deletions src/cpp/StatisticsBackend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,9 @@
#include <fastdds/rtps/attributes/ServerAttributes.h>
#include <fastdds/rtps/common/Locator.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 <fastdds/statistics/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/statistics/topic_names.hpp>
#include <fastrtps/utils/IPLocator.h>
Expand Down Expand Up @@ -396,16 +399,16 @@ EntityId StatisticsBackend::init_monitor(
participant_qos.name("monitor_discovery_server_" + discovery_server_guid_prefix);

/* Avoid using SHM transport by default */
std::shared_ptr<eprosima::fastdds::rtps::UDPv4TransportDescriptor> udp_transport =
std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
participant_qos.transport().user_transports.push_back(udp_transport);
participant_qos.transport().use_builtin_transports = false;

/* Setting as SuperClient */
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol =
eprosima::fastrtps::rtps::DiscoveryProtocol_t::SUPER_CLIENT;

RemoteServerAttributes server;
// Set the server guidPrefix
server.ReadguidPrefix(discovery_server_guid_prefix.c_str());

// Add locators
std::stringstream locators(discovery_server_locators);
std::string locator_str;
Expand All @@ -423,6 +426,50 @@ EntityId StatisticsBackend::init_monitor(
throw BadParameter(locator.port + " is out of range");
}

// WARNING: This could add same descriptor more than once if the kind is repeated
switch (locator.kind)
{
case LOCATOR_KIND_UDPv4:
{
std::shared_ptr<eprosima::fastdds::rtps::UDPv4TransportDescriptor> udpv4_transport =
std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
participant_qos.transport().user_transports.push_back(udpv4_transport);
}
break;

case LOCATOR_KIND_UDPv6:
{
std::shared_ptr<eprosima::fastdds::rtps::UDPv6TransportDescriptor> udpv6_transport =
std::make_shared<eprosima::fastdds::rtps::UDPv6TransportDescriptor>();
participant_qos.transport().user_transports.push_back(udpv6_transport);
}
break;

case LOCATOR_KIND_TCPv4:
{
std::shared_ptr<eprosima::fastdds::rtps::TCPv4TransportDescriptor> tcpv4_transport =
std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
participant_qos.transport().user_transports.push_back(tcpv4_transport);

// Setting Physical and Logical port
uint16_t port = locator.port;
eprosima::fastrtps::rtps::IPLocator::setPhysicalPort(locator, port);
eprosima::fastrtps::rtps::IPLocator::setLogicalPort(locator, port);
}
break;

case LOCATOR_KIND_TCPv6:
{
std::shared_ptr<eprosima::fastdds::rtps::TCPv6TransportDescriptor> tcpv6_transport =
std::make_shared<eprosima::fastdds::rtps::TCPv6TransportDescriptor>();
participant_qos.transport().user_transports.push_back(tcpv6_transport);
}
break;

default:
break;
}

// Check unicast/multicast address
if (eprosima::fastrtps::rtps::IPLocator::isMulticast(locator))
{
Expand Down