[20508] TCP first message loss (backport #4454)

include/fastdds/rtps/transport/TCPTransportDescriptor.h

@@ -48,6 +48,8 @@ namespace rtps {
  *
  * - \c tls_config: Configuration for TLS.
  *
+ * - \c tcp_negotiation_timeout: time to wait for logical port negotiation (in ms).
+ *
  * @ingroup TRANSPORT_MODULE
  */
 struct TCPTransportDescriptor : public SocketTransportDescriptor
@@ -246,7 +248,11 @@ struct TCPTransportDescriptor : public SocketTransportDescriptor
     //! Increment between logical ports to try during RTCP negotiation
     uint16_t logical_port_increment;
 
-    FASTDDS_TODO_BEFORE(3, 0, "Eliminate tcp_negotiation_timeout, variable not in use.")
+    /**
+     * Time to wait for logical port negotiation (ms). If a logical port is under negotiation, it waits for the
+     * negotiation to finish up to this timeout before trying to send a message to that port.
+     * Zero value means no waiting (default).
+     */
     uint32_t tcp_negotiation_timeout;
 
     //! Enables the TCP_NODELAY socket option

include/fastrtps/xmlparser/XMLParserCommon.h

@@ -72,6 +72,7 @@ extern const char* METADATA_LOGICAL_PORT;
 extern const char* LISTENING_PORTS;
 extern const char* CALCULATE_CRC;
 extern const char* CHECK_CRC;
+extern const char* TCP_NEGOTIATION_TIMEOUT;
 extern const char* SEGMENT_SIZE;
 extern const char* PORT_QUEUE_CAPACITY;
 extern const char* PORT_OVERFLOW_POLICY;

resources/xsd/fastRTPS_profiles.xsd

@@ -828,6 +828,7 @@
         ├ calculate_crc            [bool],             (ONLY available for TCP   type)
         ├ check_crc                [bool],             (ONLY available for TCP   type)
         ├ enable_tcp_nodelay       [bool],             (ONLY available for TCP   type)
+        ├ tcp_negotiation_timeout  [uint32],           (ONLY available for TCP   type)
         ├ segment_size             [uint32],           (ONLY available for   SHM type)
         ├ port_queue_capacity      [uint32],           (ONLY available for   SHM type)
         ├ healthy_check_timeout_ms [uint32],           (ONLY available for   SHM type)
@@ -882,6 +883,7 @@
             <xs:element name="check_crc" type="boolean" minOccurs="0" maxOccurs="1"/>
             <xs:element name="enable_tcp_nodelay" type="boolean" minOccurs="0" maxOccurs="1"/>
             <xs:element name="tls" type="tlsConfigType" minOccurs="0" maxOccurs="1"/>
+            <xs:element name="tcp_negotiation_timeout" type="uint32" minOccurs="0" maxOccurs="1"/>
             <xs:element name="segment_size" type="uint32" minOccurs="0" maxOccurs="1"/>
             <xs:element name="port_queue_capacity" type="uint32" minOccurs="0" maxOccurs="1"/>
             <xs:element name="healthy_check_timeout_ms" type="uint32" minOccurs="0" maxOccurs="1"/>

src/cpp/rtps/attributes/RTPSParticipantAttributes.cpp

@@ -98,6 +98,7 @@ static std::shared_ptr<fastdds::rtps::TCPv4TransportDescriptor> create_tcpv4_tra
     descriptor->check_crc = false;
     descriptor->apply_security = false;
     descriptor->enable_tcp_nodelay = true;
+    descriptor->tcp_negotiation_timeout = 0;
 
     return descriptor;
 }
@@ -114,6 +115,7 @@ static std::shared_ptr<fastdds::rtps::TCPv6TransportDescriptor> create_tcpv6_tra
     descriptor->check_crc = false;
     descriptor->apply_security = false;
     descriptor->enable_tcp_nodelay = true;
+    descriptor->tcp_negotiation_timeout = 0;
 
     return descriptor;
 }

src/cpp/rtps/transport/TCPChannelResource.cpp

@@ -97,7 +97,7 @@ ResponseCode TCPChannelResource::process_bind_request(
 
 void TCPChannelResource::set_all_ports_pending()
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
     pending_logical_output_ports_.insert(pending_logical_output_ports_.end(),
             logical_output_ports_.begin(),
             logical_output_ports_.end());
@@ -107,24 +107,75 @@ void TCPChannelResource::set_all_ports_pending()
 bool TCPChannelResource::is_logical_port_opened(
         uint16_t port)
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    return is_logical_port_opened_nts(port);
+}
+
+bool TCPChannelResource::is_logical_port_opened_nts(
+        uint16_t port)
+{
     return std::find(logical_output_ports_.begin(), logical_output_ports_.end(), port) != logical_output_ports_.end();
 }
 
 bool TCPChannelResource::is_logical_port_added(
         uint16_t port)
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
     return std::find(logical_output_ports_.begin(), logical_output_ports_.end(), port) != logical_output_ports_.end()
            || std::find(pending_logical_output_ports_.begin(), pending_logical_output_ports_.end(), port)
            != pending_logical_output_ports_.end();
 }
 
+bool TCPChannelResource::wait_logical_port_under_negotiation(
+        uint16_t port,
+        const std::chrono::milliseconds& timeout)
+{
+    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+
+    // Early return if the port is already opened.
+    if (is_logical_port_opened_nts(port))
+    {
+        return true;
+    }
+
+    // Early return if the timeout is 0.
+    if (timeout == std::chrono::milliseconds(0))
+    {
+        return false;
+    }
+
+    // The port is under negotiation if it's in the pending list and in the negotiation list.
+    bool found_in_negotiating_list = negotiating_logical_ports_.end() != std::find_if(
+        negotiating_logical_ports_.begin(),
+        negotiating_logical_ports_.end(),
+        [port](const decltype(negotiating_logical_ports_)::value_type& item)
+        {
+            return item.second == port;
+        });
+
+    if (found_in_negotiating_list &&
+            pending_logical_output_ports_.end() != std::find(
+                pending_logical_output_ports_.begin(),
+                pending_logical_output_ports_.end(),
+                port))
+    {
+        // Wait for the negotiation to finish. The condition variable might get notified if other logical port is opened. In such case,
+        // it should wait again with the respective remaining time.
+        auto wait_predicate = [this, port]() -> bool
+                {
+                    return is_logical_port_opened_nts(port);
+                };
+        logical_output_ports_updated_cv.wait_for(scopedLock, timeout, wait_predicate);
+    }
+
+    return is_logical_port_opened_nts(port);
+}
+
 void TCPChannelResource::add_logical_port(
         uint16_t port,
         RTCPMessageManager* rtcp_manager)
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
     // Already opened?
     if (std::find(logical_output_ports_.begin(), logical_output_ports_.end(), port) == logical_output_ports_.end())
     {
@@ -150,7 +201,7 @@ void TCPChannelResource::add_logical_port(
 void TCPChannelResource::send_pending_open_logical_ports(
         RTCPMessageManager* rtcp_manager)
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
     if (!pending_logical_output_ports_.empty())
     {
         for (uint16_t port : pending_logical_output_ports_)
@@ -180,6 +231,7 @@ void TCPChannelResource::add_logical_port_response(
             {
                 pending_logical_output_ports_.erase(portIt);
                 logical_output_ports_.push_back(port);
+                logical_output_ports_updated_cv.notify_all();
                 EPROSIMA_LOG_INFO(RTCP, "OpenedLogicalPort: " << port);
             }
             else
@@ -217,7 +269,7 @@ void TCPChannelResource::prepare_send_check_logical_ports_req(
         // Don't add ports just tested and already pendings
         if (p <= max_port && p != closedPort)
         {
-            std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+            std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
             auto pendingIt = std::find(pending_logical_output_ports_.begin(), pending_logical_output_ports_.end(), p);
             if (pendingIt == pending_logical_output_ports_.end())
             {
@@ -233,7 +285,7 @@ void TCPChannelResource::prepare_send_check_logical_ports_req(
     else
     {
         TCPTransactionId id = rtcp_manager->sendCheckLogicalPortsRequest(this, candidatePorts);
-        std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+        std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
         last_checked_logical_port_[id] = candidatePorts.back();
     }
 }
@@ -268,7 +320,7 @@ void TCPChannelResource::process_check_logical_ports_response(
 void TCPChannelResource::set_logical_port_pending(
         uint16_t port)
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
     auto it = std::find(logical_output_ports_.begin(), logical_output_ports_.end(), port);
     if (it != logical_output_ports_.end())
     {
@@ -280,7 +332,7 @@ void TCPChannelResource::set_logical_port_pending(
 bool TCPChannelResource::remove_logical_port(
         uint16_t port)
 {
-    std::unique_lock<std::recursive_mutex> scopedLock(pending_logical_mutex_);
+    std::lock_guard<std::recursive_mutex> scopedLock(pending_logical_mutex_);
     if (!is_logical_port_added(port))
     {
         return false;

src/cpp/rtps/transport/TCPChannelResource.h

@@ -70,6 +70,7 @@ class TCPChannelResource : public ChannelResource
     std::map<TCPTransactionId, uint16_t> last_checked_logical_port_;
     std::vector<uint16_t> pending_logical_output_ports_; // Must be accessed after lock pending_logical_mutex_
     std::vector<uint16_t> logical_output_ports_;
+    std::condition_variable_any logical_output_ports_updated_cv;
     std::mutex read_mutex_;
     std::recursive_mutex pending_logical_mutex_;
     std::atomic<eConnectionStatus> connection_status_;
@@ -94,6 +95,19 @@ class TCPChannelResource : public ChannelResource
     bool is_logical_port_added(
             uint16_t port);
 
+    /**
+     * This method checks if a logical port is under negotiation. If it is, it waits for the negotiation to finish up to a timeout.
+     * Independently if being under negotiation or not, it returns true if the port is opened, false otherwise.
+     *
+     * @param port The logical port to check.
+     * @param timeout The maximum time to wait for the negotiation to finish. Zero value means no wait
+     *
+     * @return true if the port is opened, false otherwise.
+     */
+    bool wait_logical_port_under_negotiation(
+            uint16_t port,
+            const std::chrono::milliseconds& timeout);
+
     bool connection_established()
     {
         return connection_status_ == eConnectionStatus::eEstablished;
@@ -227,6 +241,9 @@ class TCPChannelResource : public ChannelResource
 
 private:
 
+    bool is_logical_port_opened_nts(
+            uint16_t port);
+
     void prepare_send_check_logical_ports_req(
             uint16_t closedPort,
             RTCPMessageManager* rtcp_manager);