Lease handling removes expired leases from the heap, and so a proxy
writer that transitions from not-alive to alive needs to re-schedule
expiry again or it will remain alive forever after having regained
liveliness once. This was missing for a manual-by-topic lease.
Signed-off-by: Erik Boasson <eb@ilities.com>
The transition to not-alive can occur between registering the lease and
making the proxy writer visible in the GUID hash table, so handling
lease expiry for proxy writer must not depend on it being visible
there.
Signed-off-by: Erik Boasson <eb@ilities.com>
And updated dds_read_instance_mask and dds_take_instance_mask to work with DDS_READ_WITHOUT_LOCK
Signed-off-by: Thijs Sassen <thijs.sassen@adlinktech.com>
This commit contains the implementation of the deadline QoS
for readers and writers. The description of this QoS in
the DDS specification (section 2.2.3.7):
"This policy is useful for cases where a Topic is expected to
have each instance updated periodically. On the publishing side this
setting establishes a contract that the application must meet.
On the subscribing side the setting establishes a minimum
requirement for the remote publishers that are expected to supply
the data values."
On the writer side, the deadline missed event also needs to trigger in
case only local readers exist. The implementation for this inserts
the sample in the writer history cache temporary, so that an instance
is created in the whc. Immediately after inserting the sample, it is
removed again. With the creation of the instance, the deadline missed event
is created, which will take care of triggering the deadline missed
callback if required. In case the instance already existed, the timer
of the event is renewed.
To verify the changes to the writer history cache, add an additional
test to check the write history cache state. This test checks the state
of the whc after writing samples by a writer with specific combinations
of qos settings. The state of the whc is checked for stored
samples (min/max sequence number) and the absence of unacked data, after
writing samples and wait for acks by the local and/or remote
readers (which is also a parameter for this test). This test is
introduced as part of the deadline implementation, but its scope is
wider than only the changes that were made in the whc implementation for
the deadline qos.
This test showed that even before the deadline support was added,
whc_default_remove_acked_messages_full data was not marked as acked in
case of transient-local keep-all. This resulted in data in whc that
never gets in acked state. This has been fixed as well.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
These topics are non-standard and not actually used anywhere in Cyclone,
so it is rather silly to keep them.
Signed-off-by: Erik Boasson <eb@ilities.com>
This commit enables specifying a duration for data to be valid when writing
samples. After this duration, samples are dropped from the reader and writer
history cache. See section 2.2.3.16 of the DDS specification for more
details on this QoS.
The expiration of samples in the reader history cache is calculated
based on the reception timestamp of the sample and uses the monotonic
clock. As a result, the current implementation does not rely on clock
synchronisation between reader and writer. There may be reasons to
change this behavior in future and use the source timestamp instead.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Some changes in the xevents code for deleting callback events,
required for the lifespan QoS implementation. With these changes,
there is no longer a possibility of the callback still being
executing or getting invoked after delete_xevent_callback has
returned.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Maintain an index of all entities on (kind, topic, GUID) in addition to
the concurrent hash table on GUID and use that when looking for matching
entities. For endpoint matching, restrict the scan to readers/writers
of the right topic, for regular iterators, restrict it to the range of
the correct entity kind.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Fix array keys on little-endian machines
Signed-off-by: Erik Boasson <eb@ilities.com>
* Test for writing topics with an array as key
Signed-off-by: Erik Boasson <eb@ilities.com>
- moved de-registration of a lease to a separate function, so that
it is called synchronously when a pwr is deleted, to prevent the
lease from expiring (before this change, the lease was renewed with
t_never, but that does not work because of a check with early out
in lease_renew)
- handle proxypp->owns_lease correctly: when an OpenSplice instance
was running in the same network and participants from OpenSplice were
discovered, the lease-renewal fails in case the proxy participant's
lease was not registered in minl_auto, which happens when the
proxypp depends on its parent (ddsi2) participant.
- increased lease duration in create_delete_writer stress test
to avoid failed tests due to delayed pmd messages
- fixed the indenting in liveliness tests source file
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
This commit adds the implementation for the liveliness kind manual-by-topic.
With these changes, the api function dds_assert_liveliness now accepts a
writer as entity. Asserting liveliness on a writer triggers sending a
heartbeat message with the liveliness flag set.
The code for handling reception of a heartbeat message checks for this flag and
if set the lease for the proxy writer is renewed (and the shortest manual-by-participant
lease on the proxy participant as well, because the message also indicates that the
remote participant is alive). Receiving data (handle_regular) also renews the
lease on the proxy writer in case it has the manual-by-topic liveliness kind.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Refactored locking for pwr->alive so that locking order is consistent (locking
pwr->c.proxypp->e.lock while holding pwr->e.lock is the expected order). And
processed other review comments: removed lock for ephash_lookup, added
additional comments, set pwr->lease to null if not initialised.
Because of intermittent timing issues with liveliness expiry test in Travis, I've
increase the time-out and retry limit for this test.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Check that proxy writer is still alive (could be not-alive due to deleting) in code path for proxy writer's lease expiry
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Some additional refactoring in locking for pwr->alive for liveliness qos, moved lease free to gc_delete_pwr, refactored the set pwr alive/not alive functions and some minor changes in liveliness tests
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Fixed building liveliness tests on Windows and some cleaning up in liveliness test code
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Added unit tests for (1) testing the scenario that a proxy writer writes data
after its lease is expired, to check that the status for the pwr is set to alive
again and (2) stress-testing the creation and deletetion of writers with
decreasing lease duration. In addition I've optimized the locking in
unref_proxy_participant a bit and fixed the liveliness changed callback
when a writer with expired lease (not-alive) gets alive again.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
This commit adds support for the liveliness QoS for the liveliness
kinds automatic and manual-by-participant. It also implements the
lease_duration from this QoS, which was ignored until now. In the
api the function dds_assert_liveliness is added to assert liveliness
on a participant, which can be used when using liveliness kind
manual-by-participant.
Liveliness kind manual-by-topic is not yet supported, this will be
added in a later commit.
* Proxy participants now have 2 fibheaps to keep leases: one for leases
of pwrs with automatic liveliness and one for leases of the pwrs with
manual-by-participant liveliness (both protected by the proxypp lock).
The minl_auto and minl_man members represent the shortest lease from
these fibheaps and these leases are renewed when receiving data.
Replacing the minl_ leases is now done by replacing the lease object
(atomic ptr) with delayed deletion of the old lease using the gc.
* Proxy writers are set not-alive when the lease expired, and reset to
alive then data is received. When data is received by a pwr, the other
pwrs in the proxypp might also be set alive. I think the specification
is not clear at this point, and for now I have not implemented this
* I refactored out the counter for man-by-pp proxy writers and improved
locking when updating the min-leases on the proxy participant, so I
think this fixes the race conditions.
Some additional tests are required, e.g. to test the not-alive->alive
transition for pwrs. I will add these in short term, as well as the
implementation of the manual-by-topic liveliness kind.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Signed-off-by: Erik Boasson <eb@ilities.com>
Use static assert instead of run-time assert
Signed-off-by: Erik Boasson <eb@ilities.com>
Use static assertion to verify nn_rmsg offset calc
Signed-off-by: Erik Boasson <eb@ilities.com>
This commits adds support for the DOMAIN_ID and DOMAIN_TAG parameters in
participant discovery, allowing multiple domains to share a port
number (a feature introduced in DDSI 2.3). The tag can be configured
via Discovery/Tag.
This commit also introduces a setting Discovery/ExternalDomainId that
makes it possible to override the domain id on the network, both in what
is advertised in the DOMAIN_ID discovery parameter and in the
calculation of port numbers. This way a single process can create two
independent domains that talk via the network, which is on occassion
useful in writing tests.
Signed-off-by: Erik Boasson <eb@ilities.com>
Running tests while writing failed assertions to a text file means the
little information there is that causes test failures becomes pretty
much inaccessible on Travis. Sending the output to stdout/stderr means
it can be trivially shown for failed tests using the --output-on-failure
option of ctest.
Signed-off-by: Erik Boasson <eb@ilities.com>
Connext (sometimes, for some versions?) sends a pre-emptive ACKNACK with
a base sequence number of 0, which were rejected following the DDSI
specification (8.3.4.1, 8.3.5.5 and 8.3.7.1.3). That doesn't really
help anyone. (https://github.com/ros2/ros2/issues/824)
Signed-off-by: Erik Boasson <eb@ilities.com>
Installing Cyclone DDS for multiple architectures with the same
installation prefix gave problems because the CMake configuration files
ended up overwriting each other. This brings it in line with the
recommended locations. Thanks to @hansfn.
Signed-off-by: Erik Boasson <eb@ilities.com>
PGUIDFMT creates invalid C++ code.
In file included from /opt/ros/master/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/src/serdata.cpp:23:
In file included from /opt/ros/master/install/include/dds/ddsi/q_radmin.h:17:
In file included from /opt/ros/master/install/include/dds/ddsi/ddsi_tran.h:19:
In file included from /opt/ros/master/install/include/dds/ddsi/q_protocol.h:19:
/opt/ros/master/install/include/dds/ddsi/q_rtps.h:30:21: error: invalid suffix on literal; C++11 requires a space between literal and identifier [-Wreserved-user-defined-literal]
^
/opt/ros/master/install/include/dds/ddsi/q_rtps.h:30:31: error: invalid suffix on literal; C++11 requires a space between literal and identifier [-Wreserved-user-defined-literal]
Signed-off-by: Dan Rose <dan@digilabs.io>
