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BlackboxTestsDiscovery.cpp
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1711 lines (1379 loc) · 58.7 KB
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// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <atomic>
#include <thread>
#ifndef _WIN32
#include <stdlib.h>
#endif // _WIN32
#include <gtest/gtest.h>
#include <fastcdr/Cdr.h>
#include <fastcdr/FastBuffer.h>
#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/rtps/common/CDRMessage_t.hpp>
#include <fastdds/rtps/messages/RTPS_messages.hpp>
#include <fastdds/rtps/transport/test_UDPv4TransportDescriptor.hpp>
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.hpp>
#include <rtps/attributes/ServerAttributes.hpp>
#include "../utils/filter_helpers.hpp"
#include "BlackboxTests.hpp"
#include "DatagramInjectionTransport.hpp"
#include "PubSubReader.hpp"
#include "PubSubWriter.hpp"
#include "PubSubWriterReader.hpp"
using namespace eprosima::fastdds;
using namespace eprosima::fastdds::rtps;
enum communication_type
{
TRANSPORT,
INTRAPROCESS,
DATASHARING
};
class Discovery : public testing::TestWithParam<communication_type>
{
public:
void SetUp() override
{
eprosima::fastdds::LibrarySettings library_settings;
switch (GetParam())
{
case INTRAPROCESS:
library_settings.intraprocess_delivery = eprosima::fastdds::IntraprocessDeliveryType::INTRAPROCESS_FULL;
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->set_library_settings(library_settings);
break;
case DATASHARING:
enable_datasharing = true;
break;
case TRANSPORT:
default:
break;
}
}
void TearDown() override
{
eprosima::fastdds::LibrarySettings library_settings;
switch (GetParam())
{
case INTRAPROCESS:
library_settings.intraprocess_delivery = eprosima::fastdds::IntraprocessDeliveryType::INTRAPROCESS_OFF;
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->set_library_settings(library_settings);
break;
case DATASHARING:
enable_datasharing = false;
break;
case TRANSPORT:
default:
break;
}
}
};
TEST_P(Discovery, ParticipantRemoval)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
// Reader will not be reading, so datasharing needs some extra samples in pool
writer.resource_limits_extra_samples(10).init();
ASSERT_TRUE(writer.isInitialized());
// Because its volatile the durability
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
// Send some data.
auto data = default_helloworld_data_generator();
writer.send(data);
// In this test all data should be sent.
ASSERT_TRUE(data.empty());
// Destroy the writer participant.
writer.destroy();
// Check that reader receives the unmatched.
reader.wait_participant_undiscovery();
}
void static_discovery_test(
const std::string& reader_property_value,
const std::string& writer_property_value,
bool discovery_will_be_success = true)
{
char* value = nullptr;
std::string TOPIC_RANDOM_NUMBER;
std::string W_UNICAST_PORT_RANDOM_NUMBER_STR;
std::string R_UNICAST_PORT_RANDOM_NUMBER_STR;
std::string MULTICAST_PORT_RANDOM_NUMBER_STR;
// Get environment variables.
value = std::getenv("TOPIC_RANDOM_NUMBER");
if (value != nullptr)
{
TOPIC_RANDOM_NUMBER = value;
}
else
{
TOPIC_RANDOM_NUMBER = "1";
}
value = std::getenv("W_UNICAST_PORT_RANDOM_NUMBER");
if (value != nullptr)
{
W_UNICAST_PORT_RANDOM_NUMBER_STR = value;
}
else
{
W_UNICAST_PORT_RANDOM_NUMBER_STR = "7411";
}
int32_t W_UNICAST_PORT_RANDOM_NUMBER = stoi(W_UNICAST_PORT_RANDOM_NUMBER_STR);
value = std::getenv("R_UNICAST_PORT_RANDOM_NUMBER");
if (value != nullptr)
{
R_UNICAST_PORT_RANDOM_NUMBER_STR = value;
}
else
{
R_UNICAST_PORT_RANDOM_NUMBER_STR = "7421";
}
int32_t R_UNICAST_PORT_RANDOM_NUMBER = stoi(R_UNICAST_PORT_RANDOM_NUMBER_STR);
value = std::getenv("MULTICAST_PORT_RANDOM_NUMBER");
if (value != nullptr)
{
MULTICAST_PORT_RANDOM_NUMBER_STR = value;
}
else
{
MULTICAST_PORT_RANDOM_NUMBER_STR = "7400";
}
int32_t MULTICAST_PORT_RANDOM_NUMBER = stoi(MULTICAST_PORT_RANDOM_NUMBER_STR);
PropertyPolicy writer_property_policy;
writer_property_policy.properties().push_back({"dds.discovery.static_edp.exchange_format", writer_property_value});
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
LocatorList_t WriterUnicastLocators;
Locator_t LocatorBuffer;
LocatorBuffer.kind = LOCATOR_KIND_UDPv4;
LocatorBuffer.port = static_cast<uint16_t>(W_UNICAST_PORT_RANDOM_NUMBER);
IPLocator::setIPv4(LocatorBuffer, 127, 0, 0, 1);
WriterUnicastLocators.push_back(LocatorBuffer);
LocatorList_t WriterMulticastLocators;
LocatorBuffer.port = static_cast<uint16_t>(MULTICAST_PORT_RANDOM_NUMBER);
WriterMulticastLocators.push_back(LocatorBuffer);
writer.history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
.durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
.property_policy(writer_property_policy);
writer.static_discovery("file://PubSubWriter_static_disc.xml").reliability(
eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).
unicastLocatorList(WriterUnicastLocators).multicastLocatorList(WriterMulticastLocators).
setPublisherIDs(1,
2).setManualTopicName(std::string("BlackBox_StaticDiscovery_") + TOPIC_RANDOM_NUMBER).init();
if (discovery_will_be_success)
{
ASSERT_TRUE(writer.isInitialized());
}
else
{
ASSERT_FALSE(writer.isInitialized());
}
PropertyPolicy reader_property_policy;
reader_property_policy.properties().push_back({"dds.discovery.static_edp.exchange_format", reader_property_value});
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
LocatorList_t ReaderUnicastLocators;
LocatorBuffer.port = static_cast<uint16_t>(R_UNICAST_PORT_RANDOM_NUMBER);
ReaderUnicastLocators.push_back(LocatorBuffer);
LocatorList_t ReaderMulticastLocators;
LocatorBuffer.port = static_cast<uint16_t>(MULTICAST_PORT_RANDOM_NUMBER);
ReaderMulticastLocators.push_back(LocatorBuffer);
reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
.history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
.durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
.property_policy(reader_property_policy);
reader.static_discovery("file://PubSubReader_static_disc.xml").
unicastLocatorList(ReaderUnicastLocators).multicastLocatorList(ReaderMulticastLocators).
setSubscriberIDs(3,
4).setManualTopicName(std::string("BlackBox_StaticDiscovery_") + TOPIC_RANDOM_NUMBER).init();
if (discovery_will_be_success)
{
ASSERT_TRUE(reader.isInitialized());
// Because its volatile the durability
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
auto data = default_helloworld_data_generator();
auto expected_data(data);
writer.send(data);
ASSERT_TRUE(data.empty());
reader.startReception(expected_data);
reader.block_for_all();
}
else
{
ASSERT_FALSE(reader.isInitialized());
}
}
TEST(Discovery, StaticDiscovery_v1)
{
static_discovery_test("v1", "v1");
}
TEST(Discovery, StaticDiscovery_v1_Reduced)
{
static_discovery_test("v1_Reduced", "v1_Reduced");
}
TEST(Discovery, StaticDiscovery_v1_Mixed)
{
static_discovery_test("v1", "v1_Reduced");
}
TEST(Discovery, StaticDiscovery_wrong_exchange_format)
{
static_discovery_test("wrong", "wrong", false);
}
/*!
* Test Static EDP discovery configured via a XML content in a raw string.
*
* Currently Fast DDS API supports configure Static EDP discovery in two ways: setting the file containing the XML
* configuration or passing directly the XML content. This test tests the second way.
*
* Steps:
*
* 1. Configure a writer. Static EDP Discovery is enable and XML configuration is passed directly using
* static_edp_xml_config() API funcion.
*
* 2. Initialize writer.
*
* 3. Configure a reader. Static EDP Discovery is enable and XML configuration is passed directly using
* static_edp_xml_config() API funcion.
*
* 4. Initialize writer.
*
* 5. Wait both entities discover between them. If the Static EDP Discovery was configured correctly, they should
* discover each other.
*
* 6. Writer send a batch of samples.
*
* 7. Wait to receive all them. If the Static EDP Discovery was configured correctly, the communication should work
* successfully.
*
*/
TEST(Discovery, StaticDiscoveryFromString)
{
char* value = std::getenv("TOPIC_RANDOM_NUMBER");
std::string TOPIC_RANDOM_NUMBER;
if (value != nullptr)
{
TOPIC_RANDOM_NUMBER = value;
}
else
{
TOPIC_RANDOM_NUMBER = "1";
}
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).
history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS).
durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS);
std::string writer_xml = "data://<?xml version=\"1.0\" encoding=\"utf-8\"?>" \
"<staticdiscovery>" \
"<participant>" \
"<name>RTPSParticipant</name>" \
"<reader>" \
"<userId>3</userId>" \
"<entityID>4</entityID>" \
"<topicName>BlackBox_StaticDiscoveryFromString_" +
TOPIC_RANDOM_NUMBER +
std::string("</topicName>" \
"<topicDataType>HelloWorld</topicDataType>" \
"<topicKind>NO_KEY</topicKind>" \
"<reliabilityQos>RELIABLE_RELIABILITY_QOS</reliabilityQos>" \
"<durabilityQos>TRANSIENT_LOCAL_DURABILITY_QOS</durabilityQos>" \
"</reader>" \
"</participant>" \
"</staticdiscovery>");
writer.static_discovery(writer_xml.c_str()).setPublisherIDs(1, 2).
setManualTopicName(std::string("BlackBox_StaticDiscoveryFromString_") + TOPIC_RANDOM_NUMBER).
init();
ASSERT_TRUE(writer.isInitialized());
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).
history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS).
durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS);
std::string reader_xml = "data://<?xml version=\"1.0\" encoding=\"utf-8\"?>" \
"<staticdiscovery>" \
"<participant>" \
"<name>RTPSParticipant</name>" \
"<writer>" \
"<userId>1</userId>" \
"<entityID>2</entityID>" \
"<topicName>BlackBox_StaticDiscoveryFromString_" +
TOPIC_RANDOM_NUMBER +
std::string(
"</topicName>" \
"<topicDataType>HelloWorld</topicDataType>" \
"<topicKind>NO_KEY</topicKind>" \
"<reliabilityQos>RELIABLE_RELIABILITY_QOS</reliabilityQos>" \
"<durabilityQos>TRANSIENT_LOCAL_DURABILITY_QOS</durabilityQos>" \
"</writer>" \
"</participant>" \
"</staticdiscovery>");
reader.static_discovery(reader_xml.c_str()).setSubscriberIDs(3, 4).
setManualTopicName(std::string("BlackBox_StaticDiscoveryFromString_") + TOPIC_RANDOM_NUMBER).
init();
ASSERT_TRUE(reader.isInitialized());
// Because its volatile the durability
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
auto data = default_helloworld_data_generator();
auto expected_data(data);
writer.send(data);
ASSERT_TRUE(data.empty());
reader.startReception(expected_data);
reader.block_for_all();
}
TEST_P(Discovery, EDPSlaveReaderAttachment)
{
PubSubWriter<HelloWorldPubSubType> checker(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType>* reader = new PubSubReader<HelloWorldPubSubType>(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType>* writer = new PubSubWriter<HelloWorldPubSubType>(TEST_TOPIC_NAME);
checker.init();
ASSERT_TRUE(checker.isInitialized());
reader->partition("test").partition("othertest").init();
ASSERT_TRUE(reader->isInitialized());
writer->partition("test").init();
ASSERT_TRUE(writer->isInitialized());
checker.block_until_discover_topic(checker.topic_name(), 3);
checker.block_until_discover_partition("test", 2);
checker.block_until_discover_partition("othertest", 1);
std::this_thread::sleep_for(std::chrono::milliseconds(400));
delete reader;
delete writer;
checker.block_until_discover_topic(checker.topic_name(), 1);
checker.block_until_discover_partition("test", 0);
checker.block_until_discover_partition("othertest", 0);
}
// Used to detect Github issue #155
TEST(Discovery, EndpointRediscovery)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
auto test_transport_reader = std::make_shared<test_UDPv4TransportDescriptor>();
reader.disable_builtin_transport();
reader.add_user_transport_to_pparams(test_transport_reader);
reader.lease_duration({ 3, 0 }, { 1, 0 }).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
// To simulate lossy conditions, we are going to remove the default
// bultin transport, and instead use a lossy shim layer variant.
auto test_transport_writer = std::make_shared<test_UDPv4TransportDescriptor>();
// We drop 20% of all data frags
writer.disable_builtin_transport();
writer.add_user_transport_to_pparams(test_transport_writer);
writer.lease_duration({ 6, 0 }, { 2, 0 }).init();
ASSERT_TRUE(writer.isInitialized());
// Because its volatile the durability
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
test_transport_writer->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = true;
test_transport_reader->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = true;
writer.wait_reader_undiscovery();
test_transport_writer->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = false;
test_transport_reader->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = false;
writer.wait_discovery();
}
// Used to detect Github issue #457
TEST(Discovery, EndpointRediscovery_2)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
auto test_transport = std::make_shared<test_UDPv4TransportDescriptor>();
reader.lease_duration({ 120, 0 }, { 1, 0 }).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
writer.disable_builtin_transport();
writer.add_user_transport_to_pparams(test_transport);
writer.lease_duration({ 2, 0 }, { 1, 0 }).init();
ASSERT_TRUE(writer.isInitialized());
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
test_transport->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = true;
reader.wait_participant_undiscovery();
test_transport->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = false;
reader.wait_discovery();
}
// Regression for bug #9629
TEST(Discovery, EndpointRediscoveryWithTransientLocalData)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
auto test_transport = std::make_shared<test_UDPv4TransportDescriptor>();
reader
.lease_duration({ 120, 0 }, { 1, 0 })
.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
.durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
.init();
ASSERT_TRUE(reader.isInitialized());
writer.disable_builtin_transport();
writer.add_user_transport_to_pparams(test_transport);
writer
.lease_duration({ 2, 0 }, { 1, 0 })
.history_depth(10)
.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
.durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
.init();
ASSERT_TRUE(writer.isInitialized());
auto data = default_helloworld_data_generator(10);
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
reader.startReception(data);
writer.send(data);
reader.block_for_all();
EXPECT_TRUE(writer.waitForAllAcked(std::chrono::seconds(1)));
test_transport->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = true;
reader.wait_participant_undiscovery();
test_transport->test_transport_options->test_UDPv4Transport_ShutdownAllNetwork = false;
reader.wait_discovery();
// The bug made the last sample to be sent again, producing a test failure inside
// PubSubReader::receive_one
std::this_thread::sleep_for(std::chrono::seconds(1));
}
/*!
* @test Checks that although DATA(p) are not received, but other kind of RTPS submessages, it keeps the participant
* liveliness from the remote participant.
*
* **Behaviour:** Two participants are enabled, one publisher and other one subscriber. Both will use the
* test_UDPv4Transport and be configured to use a short participant liveliness lease duration. After the discovery the
* test starts dropping builtin topics. After lease duration, both participants still known each other.
* **Input:**
* **Output:** Execution should end successfully without any assertion being launched.
* **Associated requirements:**
* **Other requirements:**
*/
TEST(Discovery, ParticipantLivelinessAssertion)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
auto test_transport = std::make_shared<test_UDPv4TransportDescriptor>();
reader.disable_builtin_transport().add_user_transport_to_pparams(test_transport).
lease_duration({ 0, 800000000 },
{ 0, 500000000 }).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
writer.disable_builtin_transport().add_user_transport_to_pparams(test_transport).
lease_duration({ 0, 800000000 }, { 0, 500000000 }).init();
ASSERT_TRUE(writer.isInitialized());
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
test_transport->test_transport_options->always_drop_participant_builtin_topic_data = true;
std::thread thread([&writer]()
{
HelloWorld msg;
for (int count = 0; count < 20; ++count)
{
writer.send_sample(msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
});
EXPECT_FALSE(reader.wait_participant_undiscovery(std::chrono::seconds(1)));
EXPECT_FALSE(writer.wait_participant_undiscovery(std::chrono::seconds(1)));
test_transport->test_transport_options->always_drop_participant_builtin_topic_data = false;
thread.join();
}
// Regression test of Refs #2535, github micro-RTPS #1
TEST(Discovery, PubXmlLoadedPartition)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
reader.partition("A").init();
ASSERT_TRUE(reader.isInitialized());
const std::string xml =
R"(<profiles>
<publisher profile_name="partition_publisher_profile">
<topic>
<name>)" + writer.topic_name() +
R"(</name>
<dataType>HelloWorld</dataType>
</topic>
<qos>
<partition>
<names>
<name>A</name>
</names>
</partition>
</qos>
</publisher>
</profiles>)";
writer.load_publisher_attr(xml).init();
ASSERT_TRUE(writer.isInitialized());
reader.wait_discovery();
writer.wait_discovery();
}
TEST(Discovery, LocalInitialPeers)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
Locator_t loc_initial_peer, loc_default_unicast;
LocatorList_t reader_initial_peers;
IPLocator::setIPv4(loc_initial_peer, 127, 0, 0, 1);
loc_initial_peer.port = static_cast<uint16_t>(global_port);
reader_initial_peers.push_back(loc_initial_peer);
LocatorList_t reader_default_unicast_locator;
loc_default_unicast.port = static_cast<uint16_t>(global_port + 1);
reader_default_unicast_locator.push_back(loc_default_unicast);
reader.metatraffic_unicast_locator_list(reader_default_unicast_locator).
initial_peers(reader_initial_peers).
reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
LocatorList_t writer_initial_peers;
loc_initial_peer.port = static_cast<uint16_t>(global_port + 1);
writer_initial_peers.push_back(loc_initial_peer);
LocatorList_t writer_default_unicast_locator;
loc_default_unicast.port = static_cast<uint16_t>(global_port);
writer_default_unicast_locator.push_back(loc_default_unicast);
writer.metatraffic_unicast_locator_list(writer_default_unicast_locator).
initial_peers(writer_initial_peers).history_depth(10).init();
ASSERT_TRUE(writer.isInitialized());
// Because its volatile the durability
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
auto data = default_helloworld_data_generator();
reader.startReception(data);
// Send data
writer.send(data);
// In this test all data should be sent.
ASSERT_TRUE(data.empty());
// Block reader until reception finished or timeout.
reader.block_for_all();
}
// Test created to check bug #2010 (Github #90).
// It also checks https://github.com/eProsima/Fast-DDS/issues/2107
TEST_P(Discovery, PubSubAsReliableHelloworldPartitions)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
reader.history_depth(10).
partition("PartitionTests").
reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
writer.history_depth(10).
partition("PartitionTe*").init();
ASSERT_TRUE(writer.isInitialized());
// Because its volatile the durability
// Wait for discovery.
writer.wait_discovery();
reader.wait_discovery();
auto data = default_helloworld_data_generator();
reader.startReception(data);
// Send data
writer.send(data);
// In this test all data should be sent.
ASSERT_TRUE(data.empty());
// Block reader until reception finished or timeout.
reader.block_for_all();
// Change reader to different partition to check un-matching
ASSERT_TRUE(reader.update_partition("OtherPartition"));
reader.wait_writer_undiscovery();
writer.wait_reader_undiscovery();
// Reset partition and wait for discovery to check that emptying the list triggers un-matching.
// This is to check Github #2107
ASSERT_TRUE(reader.update_partition("PartitionTests"));
writer.wait_discovery();
reader.wait_discovery();
ASSERT_TRUE(reader.clear_partitions());
reader.wait_writer_undiscovery();
writer.wait_reader_undiscovery();
// Set reader and writer in compatible partitions
ASSERT_TRUE(reader.update_partition("OtherPartition"));
ASSERT_TRUE(writer.update_partition("OtherPart*"));
writer.wait_discovery();
reader.wait_discovery();
data = default_helloworld_data_generator();
reader.startReception(data);
// Send data
writer.send(data);
// In this test all data should be sent.
ASSERT_TRUE(data.empty());
// Block reader until reception finished or timeout.
reader.block_for_all();
}
/*!
* @test: Regression test for redmine issue #15839
*
* This test creates one writer and two readers, listening for metatraffic on different ports.
*
*/
TEST(Discovery, LocalInitialPeersDiferrentLocators)
{
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> readers[2]{ {TEST_TOPIC_NAME}, {TEST_TOPIC_NAME} };
static const uint32_t writer_port = global_port;
static const uint32_t reader_ports[] = { global_port + 1u, global_port + 2u };
// Checks that the wrong locator is only accessed when necessary
struct Checker
{
// Maximum number of times the locator of the first reader is expected when the second one is initiated.
// We allow for one DATA(p) to be sent.
const size_t max_allowed_times = 1;
// Flag to indicate whether the locator of the first reader is expected.
bool first_reader_locator_allowed = true;
// Counts the number of times the locator of the first reader is used after the second one is initiated
size_t wrong_times = 0;
void check(
const eprosima::fastdds::rtps::Locator& destination)
{
if (!first_reader_locator_allowed && destination.port == reader_ports[0])
{
++wrong_times;
EXPECT_LE(wrong_times, max_allowed_times);
}
}
};
// Install hook on the test transport to check for destination locators on the writer participant
Checker checker;
auto locator_printer = [&checker](const eprosima::fastdds::rtps::Locator& destination)
{
checker.check(destination);
return false;
};
auto test_transport = std::make_shared<test_UDPv4TransportDescriptor>();
test_transport->test_transport_options->locator_filter = locator_printer;
// Configure writer participant:
// - Uses the test transport, to check destination behavior
// - Listens for metatraffic on `writer_port`
// - Has no automatic announcements
{
LocatorList_t writer_metatraffic_unicast;
Locator_t locator;
locator.port = static_cast<uint16_t>(writer_port);
writer_metatraffic_unicast.push_back(locator);
writer.disable_builtin_transport().
add_user_transport_to_pparams(test_transport).
metatraffic_unicast_locator_list(writer_metatraffic_unicast).
lease_duration(eprosima::fastdds::dds::c_TimeInfinite, { 3600, 0 }).
initial_announcements(0, {}).
reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS);
}
// Configure reader participants:
// - Use (non-testing) UDP transport only
// - Listen on different ports
// - Announce only once to the port of the writer only
// (i.e. no communication between reader participants will happen)
auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
for (uint16_t i = 0; i < 2; ++i)
{
LocatorList_t reader_metatraffic_unicast;
Locator_t locator;
locator.port = static_cast<uint16_t>(reader_ports[i]);
reader_metatraffic_unicast.push_back(locator);
LocatorList_t reader_initial_peers;
Locator_t loc_initial_peer;
IPLocator::setIPv4(loc_initial_peer, 127, 0, 0, 1);
loc_initial_peer.port = static_cast<uint16_t>(writer_port);
reader_initial_peers.push_back(loc_initial_peer);
readers[i].disable_builtin_transport().
add_user_transport_to_pparams(udp_transport).
lease_duration(eprosima::fastdds::dds::c_TimeInfinite, {3600, 0}).
initial_announcements(1, {0, 100 * 1000 * 1000}).
metatraffic_unicast_locator_list(reader_metatraffic_unicast).
initial_peers(reader_initial_peers).
reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS);
}
// Start writer and first reader, and wait for them to discover
writer.init();
ASSERT_TRUE(writer.isInitialized());
readers[0].init();
ASSERT_TRUE(readers[0].isInitialized());
writer.wait_discovery();
readers[0].wait_discovery();
// Wait a bit (in case some additional ACKNACK / DATA(p) is exchanged after discovery)
std::this_thread::sleep_for(std::chrono::seconds(3));
// Check that, when initializing the second reader, the writer does not communicate with the first reader,
// except for a single DATA(p)
checker.first_reader_locator_allowed = false;
readers[1].init();
ASSERT_TRUE(readers[1].isInitialized());
readers[1].wait_discovery();
}
TEST_P(Discovery, PubSubAsReliableHelloworldParticipantDiscovery)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
writer.history_depth(100).init();
ASSERT_TRUE(writer.isInitialized());
int count = 0;
reader.setOnDiscoveryFunction([&writer, &count](const ParticipantBuiltinTopicData& info,
ParticipantDiscoveryStatus status) -> bool
{
if (info.guid == writer.participant_guid())
{
if (status == ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
{
std::cout << "Discovered participant " << info.guid << std::endl;
++count;
}
else if (status == ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
status == ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
{
std::cout << "Removed participant " << info.guid << std::endl;
return ++count == 2;
}
}
return false;
});
reader.history_depth(100).
reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
reader.wait_discovery();
writer.wait_discovery();
writer.destroy();
reader.wait_participant_undiscovery();
reader.wait_discovery_result();
}
TEST_P(Discovery, PubSubAsReliableHelloworldUserData)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
writer.history_depth(100).
userData({'a', 'b', 'c', 'd'}).init();
ASSERT_TRUE(writer.isInitialized());
reader.setOnDiscoveryFunction([&writer](const ParticipantBuiltinTopicData& info,
ParticipantDiscoveryStatus /*status*/) -> bool
{
if (info.guid == writer.participant_guid())
{
std::cout << "Received USER_DATA from the writer: ";
for (auto i: info.user_data)
{
std::cout << i << ' ';
}
return info.user_data == std::vector<octet>({'a', 'b', 'c', 'd'});
}
return false;
});
reader.history_depth(100).
reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());
reader.wait_discovery();
writer.wait_discovery();
reader.wait_discovery_result();
}
// Regression test for #8690.
TEST_P(Discovery, PubSubAsReliableHelloworldEndpointUserData)
{
PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
writer.history_depth(100).
endpoint_userData({'a', 'b', 'c', 'd'}).init();
ASSERT_TRUE(writer.isInitialized());
reader.setOnEndpointDiscoveryFunction([&writer](WriterDiscoveryStatus /*reason*/,
const PublicationBuiltinTopicData& info) -> bool
{
if (info.guid == writer.datawriter_guid())
{
std::cout << "Received USER_DATA from the writer: ";
for (auto i: info.user_data)
{
std::cout << i << ' ';
}
return info.user_data == std::vector<octet>({'a', 'b', 'c', 'd'});
}
return false;
});
reader.history_depth(100).
reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
ASSERT_TRUE(reader.isInitialized());