Refs #11770: Databroker implementation

Signed-off-by: jparisu <javierparis@eprosima.com>

Author: jparisu

CMakeLists.txt

@@ -33,6 +33,11 @@ option(IS_FASTDDS_SH_USING_FASTDDS_EXTERNALPROJECT
 
 option(BUILD_LIBRARY "Compile the Fast DDS SystemHandle" ON)
 
+###################################################################################
+# Set Aliases for FastDDS SH
+###################################################################################
+set (ALIASES "databroker")
+
 ###################################################################################
 # Load external CMake Modules.
 ###################################################################################
@@ -224,6 +229,8 @@ if(BUILD_LIBRARY)
             fastdds
         TARGET
             is-fastdds
+        ALIAS
+            ${ALIASES}
     )
 endif()
 

src/Participant.cpp

@@ -75,19 +75,11 @@ void Participant::build_participant(
     // Check if domain_id exists in config
     eprosima::fastdds::dds::DomainId_t domain_id(0);
 
-    // Check if domain_id tag is under other tag
+    // Check if domain_id tag is present inconfiguration, if not 0 as default
     if (config["domain_id"])
     {
         domain_id = config["domain_id"].as<uint32_t>();
     }
-    else if (config["participant"] && config["participant"]["domain_id"])
-    {
-        domain_id = config["participant"]["domain_id"].as<uint32_t>();
-    }
-    else if (config["databroker"] && config["databroker"]["domain_id"])
-    {
-        domain_id = config["databroker"]["domain_id"].as<uint32_t>();
-    }
 
     logger_ << utils::Logger::Level::DEBUG << "Creating new fastdds Participant in domain " << domain_id << std::endl;
 

src/Participant.hpp

@@ -69,7 +69,7 @@ class Participant
      *        in the *YAML* configuration file.
      *
      * @param[in] config The configuration provided by the user.
-     *            It must contain two keys in the *YAML* map:
+     *            In case of fastdds type it can contain two keys in the *YAML* map:
      *
      *            - `file_path`: Specifies the path to the XML profile that will be used to configure the
      *              *DomainParticipant*. More information on how to write these XML profiles can be found
@@ -80,6 +80,19 @@ class Participant
      *              that corresponds to the configuration profile that we want this Participant
      *              to be configured with.
      *
+     *           In case of databroker type it can contain three keys in the *YAML* map:
+     *
+     *            - `server_id`: Specifies the Discovery Server id in order to generate a GUID to it.
+     *
+     *            - `listening_addresses`: Specifies a list of TCP listening addresses.
+     *                  - `ip`: Public IP where the Server will be listening.
+     *                  - `port`: Port where the Server will be listening.
+     *
+     *            - `connection_addresses`: Specifies a list of TCP connection addresses.
+     *                  - `ip`: Public IP to the Server to connect with.
+     *                  - `port`: Port to the Server to connect with.
+     *                  - `server_id`: Id of the remote server to connect.
+     *
      * @throws DDSMiddlewareException If the XML profile was incorrect and, thus, the
      *         *DomainParticipant* could not be created.
      */
@@ -94,7 +107,7 @@ class Participant
     /**
      * @brief Construct a *Fast DDS DomainParticipant*, given its DDS domain ID.
      *
-     * @param[in] domain_id The DDS domain ID for this participant.
+     * @param[in] config The configuration provided by the user.
      *
      * @throws DDSMiddlewareException If the *DomainParticipant* could not be created.
      */
@@ -199,16 +212,41 @@ class Participant
 
 protected:
 
-    //! Get Participant QoS using config file
+    /**
+     * @brief Get Participant QoS using config file.
+     *
+     * Set all default values to QoS and then use specific FastSH tags to configure the participant:
+     * Tags: file_path, profile_name
+     *
+     * @param[in] config The configuration provided by the user.
+     *
+     * @return Specific QoS by user configuration.
+     */
     eprosima::fastdds::dds::DomainParticipantQos get_participant_qos(
             const YAML::Node& config);
 
-    //! Get Integration Service Participant default Qos
+    /**
+     * @brief Get Integration Service Participant default Qos
+     *
+     * @return Defult SystemHandler Participant QoS
+     */
     eprosima::fastdds::dds::DomainParticipantQos get_default_participant_qos();
 
-    //! Get Databroker DomainParticipantQos with TCP enable in WAN
-    //! It uses \c get_participant_qos to reuse std participant tags
-    //! tags: server_id, listening_addresses, connection_addresses
+    /**
+     * @brief Get Databroker DomainParticipantQos with TCP enable in WAN
+     *
+     * It uses \c get_participant_qos to reuse std participant tags and the uses specific databroker tags:
+     * Databroker tags:
+     *  server_id : id of the Discovery Server [0:256)
+     *  listening_addresses     : Listening addresses (public) for Discovery Server to listen in TCP
+     *   fields                 : ip, port
+     *  connection_addresses    : Connection addresses for Discovery Server to connect with other servers
+     *   fields                 : ip, port, server_id
+     *
+     * @param config The configuration provided by the user.
+     *
+     * @return Specific QoS by user configuration.
+     */
     eprosima::fastdds::dds::DomainParticipantQos get_databroker_qos(
             const YAML::Node& config);
 

src/SystemHandle.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright 2021 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.
@@ -74,7 +74,7 @@ class SystemHandle : public virtual FullSystem
         }
         catch (DDSMiddlewareException& e)
         {
-            logger_ << utils::Logger::Level::ERROR << "Error parsing configuration" << std::endl;
+            logger_ << utils::Logger::Level::ERROR << "Error creating participant" << std::endl;
             e.from_logger << utils::Logger::Level::ERROR << e.what() << std::endl;
             return false;
         }
@@ -261,4 +261,6 @@ class SystemHandle : public virtual FullSystem
 } //  namespace is
 } //  namespace eprosima
 
+// TODO aliases must come from CMAKE
 IS_REGISTER_SYSTEM("fastdds", eprosima::is::sh::fastdds::SystemHandle)
+IS_REGISTER_SYSTEM("databroker", eprosima::is::sh::fastdds::SystemHandle)