[19942] Make remove unused entities compatible with the discovery trigger

ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp

@@ -19,10 +19,12 @@
 #include <ddspipe_core/communication/Bridge.hpp>
 #include <ddspipe_core/communication/dds/Track.hpp>
 #include <ddspipe_core/configuration/RoutesConfiguration.hpp>
+#include <ddspipe_core/types/dds/Endpoint.hpp>
 #include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
 #include <ddspipe_core/types/topic/filter/ManualTopic.hpp>
 #include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
 
+
 namespace eprosima {
 namespace ddspipe {
 namespace core {
@@ -49,7 +51,10 @@ class DdsBridge : public Bridge
  * @param participant_database: Collection of Participants to manage communication
  * @param payload_pool: Payload Pool that handles the reservation/release of payloads throughout the DDS Router
  * @param thread_pool: Shared pool of threads in charge of data transmission.
- * @param enable: Whether the Bridge should be initialized as enabled
+ * @param routes_config: Configuration of the routes of the Bridge
+ * @param remove_unused_entities: Whether the Bridge should remove unused entities
+ * @param manual_topics: Topics that explicitally set a QoS attribute for this participant
+ * @param endpoint_kind: Kind of the endpoint that discovered the topic
  *
  * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
  */
@@ -61,7 +66,8 @@ class DdsBridge : public Bridge
  const std::shared_ptr<utils::SlotThreadPool>& thread_pool,
  const RoutesConfiguration& routes_config,
  const bool remove_unused_entities,
- const std::vector<core::types::ManualTopic>& manual_topics);
+ const std::vector<core::types::ManualTopic>& manual_topics,
+ const types::EndpointKind& endpoint_kind);
 
  DDSPIPE_CORE_DllAPI
  ~DdsBridge();
@@ -85,76 +91,120 @@ class DdsBridge : public Bridge
  void disable() noexcept override;
 
  /**
- * Build the IReaders and IWriters inside the bridge for the new participant,
- * and add them to the Tracks.
+ * Create a new endpoint in the bridge.
  *
- * Thread safe
+ * It will call either \c create_writer_and_its_tracks_nts_ or \c create_reader_and_its_track_nts_ depending on the
+ * \c discovered_endpoint_kind.
  *
- * @param participant_id: The id of the participant who is creating the writer.
+ * @param participant_id: The id of the participant who is creating the endpoint.
+ * @param discovered_endpoint_kind: The kind of endpoint that has been discovered.
  *
- * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
+ * Thread safe.
  */
  DDSPIPE_CORE_DllAPI
- void create_writer(
- const types::ParticipantId& participant_id);
+ void create_endpoint(
+ const types::ParticipantId& participant_id,
+ const types::EndpointKind& discovered_endpoint_kind);
 
  /**
- * Remove the IWriter from all the Tracks in the bridge.
- * Remove the IReaders and Tracks that don't have any IWriters.
+ * Remove an endpoint from the bridge.
  *
- * Thread safe
+ * It will call either \c remove_writer_and_its_tracks_nts_ or \c remove_reader_and_its_track_nts_ depending on the
+ * \c removed_endpoint_kind.
  *
- * @param participant_id: The id of the participant who is removing the writer.
+ * @param participant_id: The id of the participant who is removing the endpoint.
+ * @param removed_endpoint_kind: The kind of endpoint that has been removed.
+ *
+ * Thread safe.
  */
  DDSPIPE_CORE_DllAPI
- void remove_writer(
- const types::ParticipantId& participant_id) noexcept;
+ void remove_endpoint(
+ const types::ParticipantId& participant_id,
+ const types::EndpointKind& removed_endpoint_kind);
 
 protected:
 
  /**
- * Create the readers, writers, and tracks that are required by the routes.
+ * Create an IWriter for the new participant.
+ * Create the IReaders in the IWriter's route.
+ * Create the Tracks of the IReaders with the IWriter.
  *
- * Thread safe
+ * @param participant_id: The id of the participant who is creating the writer.
  *
  * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
  */
- DDSPIPE_CORE_DllAPI
- void create_all_tracks_();
+ void create_writer_and_its_tracks_nts_(
+  const types::ParticipantId& participant_id);
 
  /**
- * Add each Participant's IWriters to its Track.
- * If the Participant's IReader doesn't exist, create it.
- * If the Participant's Track doesn't exist, create it.
+ * Create an IReader for the new participant.
+ * Create the IWriters in the IReader's route.
+ * Create the Track with the IReader and IWriters.
  *
- * @param writers: The map of ids to writers that are required for the tracks.
+ * @param participant_id: The id of the participant who is creating the reader.
  *
- * @throw InitializationException in case \c IReaders creation fails.
+ * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
  */
- DDSPIPE_CORE_DllAPI
- void add_writer_to_tracks_nts_(
- const types::ParticipantId& participant_id,
- std::shared_ptr<IWriter>& writer);
+ void create_reader_and_its_track_nts_(
+ const types::ParticipantId& participant_id);
+
+ /**
+ * Remove the IWriter from all the Tracks.
+ * Remove the IReaders and Tracks without IWriters.
+ *
+ * @param participant_id: The id of the participant who is removing the writer.
+ */
+ void remove_writer_and_its_tracks_nts_(
+ const types::ParticipantId& participant_id) noexcept;
 
  /**
- * Add each Participant's IWriters to its Track.
- * If the Participant's IReader doesn't exist, create it.
- * If the Participant's Track doesn't exist, create it.
+ * Remove the IReader and its Track.
+ * Remove the IWriters that no longer belong to a Track.
  *
- * @param writers: The map of ids to writers that are required for the tracks.
+ * @param participant_id: The id of the participant who is removing the reader.
+ */
+ void remove_reader_and_its_track_nts_(
+ const types::ParticipantId& participant_id) noexcept;
+
+ /**
+ * @brief Create a Track for an IReader and its IWriters.
  *
- * @throw InitializationException in case \c IReaders creation fails.
+ * @param id: The id of the participant who is creating the track.
+ * @param reader: The IReader of the track.
+ * @param writers: The IWriters of the track.
  */
- DDSPIPE_CORE_DllAPI
- void add_writers_to_tracks_nts_(
+ void create_track_nts_(
+ const types::ParticipantId& id,
+ const std::shared_ptr<IReader>& reader,
  std::map<types::ParticipantId, std::shared_ptr<IWriter>>& writers);
 
+ /**
+ * @brief Create an IWriter for a participant in the topic.
+ *
+ * A tailored Topic is created for the participant, depending on the QoS configured for it.
+ *
+ * @param participant_id: The id of the participant who is creating the writer.
+ */
+ std::shared_ptr<core::IWriter> create_writer_nts_(
+ const types::ParticipantId& participant_id);
+
+ /**
+ * @brief Create an IReader for a participant in the topic.
+ *
+ * A tailored Topic is created for the participant, depending on the QoS configured for it.
+ *
+ * @param participant_id: The id of the participant who is creating the reader.
+ */
+ std::shared_ptr<core::IReader> create_reader_nts_(
+ const types::ParticipantId& participant_id);
+
  /**
  * @brief Impose the Topic QoS that have been pre-configured for a participant.
  *
  * First, it imposes the Topic QoS configured at \c manual_topics and then the ones configured at \c participants.
+ *
+ * @param participant: The participant to impose the QoS on.
  */
- DDSPIPE_CORE_DllAPI
  utils::Heritable<types::DistributedTopic> create_topic_for_participant_nts_(
  const std::shared_ptr<IParticipant>& participant) noexcept;
 
@@ -166,17 +216,18 @@ class DdsBridge : public Bridge
  utils::Heritable<types::DistributedTopic> topic_;
 
  //! Routes associated to the Topic.
- RoutesConfiguration::RoutesMap routes_;
+ RoutesConfiguration::RoutesMap writers_in_route_;
+ RoutesConfiguration::RoutesMap readers_in_route_;
 
  //! Topics that explicitally set a QoS attribute for this participant.
  std::vector<types::ManualTopic> manual_topics_;
 
- /**
- * Inside \c Tracks
- * They are indexed by the Id of the participant that is source
- */
+ //! The tracks of the bridge indexed by the participant_id of their reader.
  std::map<types::ParticipantId, std::unique_ptr<Track>> tracks_;
 
+ //! The writers of the bridge index by their participant_id.
+ std::map<types::ParticipantId, std::shared_ptr<IWriter>> writers_;
+
  //! Mutex to prevent simultaneous calls to enable and/or disable
  std::mutex mutex_;
 

ddspipe_core/include/ddspipe_core/communication/dds/Track.hpp

@@ -124,15 +124,15 @@ class Track
  */
  DDSPIPE_CORE_DllAPI
  bool has_writer(
- const types::ParticipantId& id) noexcept;
+ const types::ParticipantId& id) const noexcept;
 
  /**
  * Check if a track has at least one writer.
  *
  * Tread safe
  */
  DDSPIPE_CORE_DllAPI
- bool has_writers() noexcept;
+ bool has_writers() const noexcept;
 
 protected:
 
@@ -209,8 +209,9 @@ class Track
  /**
  * Mutex to prevent simultaneous calls to \c enable and/or \c disable .
  * It manages access to variable \c enabled_ .
+ * It is mutable so it can be used in const methods.
  */
- std::mutex track_mutex_;
+ mutable std::mutex track_mutex_;
 
  /////
  // Transmit thread part

ddspipe_core/include/ddspipe_core/configuration/RoutesConfiguration.hpp

@@ -40,24 +40,52 @@ struct RoutesConfiguration : public IConfiguration
  // CONSTRUCTORS
  /////////////////////////
 
- DDSPIPE_CORE_DllAPI RoutesConfiguration() = default;
+ DDSPIPE_CORE_DllAPI
+ RoutesConfiguration() = default;
 
  /////////////////////////
  // METHODS
  /////////////////////////
 
- DDSPIPE_CORE_DllAPI virtual bool is_valid(
+ DDSPIPE_CORE_DllAPI
+ bool is_valid(
  utils::Formatter& error_msg) const noexcept override;
 
- DDSPIPE_CORE_DllAPI bool is_valid(
+ DDSPIPE_CORE_DllAPI
+ bool is_valid(
  utils::Formatter& error_msg,
  const std::map<types::ParticipantId, bool>& participants) const noexcept;
 
+ /**
+ * @brief Returns the writers in each reader's route.
+ *
+ * It returns a map with the readers as keys and the writers in each reader's route as values.
+ *
+ * The first time this method is called, it will calculate the routes and store them in the object.
+ * Subsequent calls will return the stored routes.
+ */
+ DDSPIPE_CORE_DllAPI
+ RoutesMap routes_of_readers(
+ const std::map<types::ParticipantId, bool>& participant_ids) const noexcept;
+
+ /**
+ * @brief Returns the readers in each writer's route.
+ *
+ * It returns a map with the writers as keys and the readers in each writer's route as values.
+ *
+ * The first time this method is called, it will calculate the routes and store them in the object.
+ * Subsequent calls will return the stored routes.
+ */
+ DDSPIPE_CORE_DllAPI
+ RoutesMap routes_of_writers(
+ const std::map<types::ParticipantId, bool>& participant_ids) const noexcept;
+
  /////////////////////////
  // OPERATORS
  /////////////////////////
 
- DDSPIPE_CORE_DllAPI RoutesMap operator () () const;
+ DDSPIPE_CORE_DllAPI
+ RoutesMap operator () () const;
 
  /////////////////////////
  // VARIABLES

ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp

@@ -26,6 +26,7 @@
 #include <ddspipe_core/dynamic/DiscoveryDatabase.hpp>
 #include <ddspipe_core/dynamic/ParticipantsDatabase.hpp>
 #include <ddspipe_core/efficiency/payload/PayloadPool.hpp>
+#include <ddspipe_core/types/dds/Endpoint.hpp>
 
 #include <ddspipe_core/library/library_dll.h>
 
@@ -260,9 +261,11 @@ class DdsPipe
  * @note This is the only method that adds topics to \c current_topics_
  *
  * @param [in] topic : topic discovered
+ * @param [in] endpoint_kind : kind of the endpoint
  */
  void discovered_topic_nts_(
- const utils::Heritable<types::DistributedTopic>& topic) noexcept;
+ const utils::Heritable<types::DistributedTopic>& topic,
+ const types::EndpointKind& endpoint_kind = types::EndpointKind::reader) noexcept;
 
  /**
  * @brief Method called every time a new endpoint (corresponding to a server) has been discovered/updated
@@ -301,9 +304,11 @@ class DdsPipe
  * It is created enabled if the DdsPipe is enabled.
  *
  * @param [in] topic : new topic
+ * @param [in] enabled : whether to enable the bridge on creation or not
  */
  void create_new_bridge_nts_(
  const utils::Heritable<types::DistributedTopic>& topic,
+ const types::EndpointKind endpoint_kind = types::EndpointKind::reader,
  bool enabled = false) noexcept;
 
  /**
@@ -322,9 +327,11 @@ class DdsPipe
  * If the topic did not exist before, the Bridge is created.
  *
  * @param [in] topic : Topic to be enabled
+ * @param [in] endpoint_kind : Kind of endpoint who discovered the topic
  */
  void activate_topic_nts_(
- const utils::Heritable<types::DistributedTopic>& topic) noexcept;
+ const utils::Heritable<types::DistributedTopic>& topic,
+ const types::EndpointKind& endpoint_kind = types::EndpointKind::reader) noexcept;
 
  /**
  * @brief Disable a specific topic.