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update dds-sniffer with --topics, topic-info #13661

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merged 3 commits into from
Jan 8, 2025
Merged

update dds-sniffer with --topics, topic-info #13661

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fad522e
add print_writer_info() / print_reader_info() in dds-serialization
maloel Jan 7, 2025
884275c
change participant on-writer-added and -reader-added
maloel Jan 7, 2025
ab25c02
update dds-sniffer with --topics, topic-info
maloel Jan 7, 2025
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18 changes: 12 additions & 6 deletions third-party/realdds/include/realdds/dds-participant.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,12 @@ class DomainParticipant;
class DomainParticipantFactory;
} // namespace dds
} // namespace fastdds
namespace fastrtps {
namespace rtps {
class WriterProxyData;
class ReaderProxyData;
} // namespace rtps
} // namespace fastrtps
} // namespace eprosima
#ifdef BUILD_EASYLOGGINGPP
namespace el {
Expand Down Expand Up @@ -153,9 +159,9 @@ class dds_participant
{
friend class dds_participant;

std::function< void( dds_guid, char const* topic_name ) > _on_writer_added;
std::function< void( eprosima::fastrtps::rtps::WriterProxyData const & ) > _on_writer_added;
std::function< void( dds_guid, char const* topic_name ) > _on_writer_removed;
std::function< void( dds_guid, char const* topic_name ) > _on_reader_added;
std::function< void( eprosima::fastrtps::rtps::ReaderProxyData const & ) > _on_reader_added;
std::function< void( dds_guid, char const* topic_name ) > _on_reader_removed;
std::function< void( dds_guid, char const* participant_name ) > _on_participant_added;
std::function< void( dds_guid, char const* participant_name ) > _on_participant_removed;
Expand All @@ -164,7 +170,7 @@ class dds_participant
listener() = default;

public:
listener* on_writer_added( std::function< void( dds_guid guid, char const* topic_name ) > callback )
listener* on_writer_added( std::function< void( eprosima::fastrtps::rtps::WriterProxyData const & ) > callback )
{
_on_writer_added = std::move( callback );
return this;
Expand All @@ -174,7 +180,7 @@ class dds_participant
_on_writer_removed = std::move( callback );
return this;
}
listener* on_reader_added( std::function< void( dds_guid guid, char const* topic_name ) > callback )
listener* on_reader_added( std::function< void( eprosima::fastrtps::rtps::ReaderProxyData const & ) > callback )
{
_on_reader_added = std::move( callback );
return this;
Expand Down Expand Up @@ -228,9 +234,9 @@ class dds_participant
std::shared_ptr< listener_impl > _domain_listener;
std::atomic< uint32_t > _next_entity_id{ 0 }; // for create_guid()

void on_writer_added( dds_guid, char const * topic_name );
void on_writer_added( eprosima::fastrtps::rtps::WriterProxyData const & );
void on_writer_removed( dds_guid, char const * topic_name );
void on_reader_added( dds_guid, char const * topic_name );
void on_reader_added( eprosima::fastrtps::rtps::ReaderProxyData const & );
void on_reader_removed( dds_guid, char const * topic_name );
void on_participant_added( dds_guid, char const * participant_name );
void on_participant_removed( dds_guid, char const * participant_name );
Expand Down
17 changes: 17 additions & 0 deletions third-party/realdds/include/realdds/dds-serialization.h
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,23 @@ namespace realdds {
class dds_participant;


struct print_writer_info
{
eprosima::fastrtps::rtps::WriterProxyData const & info;
print_writer_info( eprosima::fastrtps::rtps::WriterProxyData const & info ) : info( info ) {}
};
std::ostream & operator<<( std::ostream & os, print_writer_info const & );


struct print_reader_info
{
eprosima::fastrtps::rtps::ReaderProxyData const & info;
print_reader_info( eprosima::fastrtps::rtps::ReaderProxyData const & info ) : info( info ) {}
};
std::ostream & operator<<( std::ostream & os, print_reader_info const & );



eprosima::fastdds::dds::ReliabilityQosPolicyKind reliability_kind_from_string( std::string const & );
eprosima::fastdds::dds::DurabilityQosPolicyKind durability_kind_from_string( std::string const & );
eprosima::fastdds::dds::HistoryQosPolicyKind history_kind_from_string( std::string const & );
Expand Down
10 changes: 6 additions & 4 deletions third-party/realdds/py/pyrealdds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,8 @@
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastrtps/types/DynamicType.h>
#include <fastdds/rtps/builtin/data/WriterProxyData.h>
#include <fastdds/rtps/builtin/data/ReaderProxyData.h>

#include <rsutils/py/pybind11.h>

Expand Down Expand Up @@ -248,8 +250,8 @@ PYBIND11_MODULE(NAME, m) {
.def( FN_FWD( dds_participant::listener,
on_writer_added,
( dds_guid guid, char const * topic_name ),
( dds_guid guid, char const * topic_name ),
callback( guid, topic_name ); ) )
( eprosima::fastrtps::rtps::WriterProxyData const & data ),
callback( data.guid(), data.topicName().c_str() ); ) )
.def( FN_FWD( dds_participant::listener,
on_writer_removed,
( dds_guid guid, char const * topic_name ),
Expand All @@ -258,8 +260,8 @@ PYBIND11_MODULE(NAME, m) {
.def( FN_FWD( dds_participant::listener,
on_reader_added,
( dds_guid guid, char const * topic_name ),
( dds_guid guid, char const * topic_name ),
callback( guid, topic_name ); ) )
( eprosima::fastrtps::rtps::ReaderProxyData const & data ),
callback( data.guid(), data.topicName().c_str() ); ) )
.def( FN_FWD( dds_participant::listener,
on_reader_removed,
( dds_guid guid, char const * topic_name ),
Expand Down
12 changes: 6 additions & 6 deletions third-party/realdds/src/dds-participant.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,7 @@ struct dds_participant::listener_impl : public eprosima::fastdds::dds::DomainPar
/* Process the case when a new publisher was found in the domain */
LOG_DEBUG( _owner.name() << ": +writer (" << _owner.print( info.info.guid() ) << ") publishing "
<< info.info );
_owner.on_writer_added( info.info.guid(), info.info.topicName().c_str() );
_owner.on_writer_added( info.info );
break;

case eprosima::fastrtps::rtps::WriterDiscoveryInfo::REMOVED_WRITER:
Expand All @@ -163,7 +163,7 @@ struct dds_participant::listener_impl : public eprosima::fastdds::dds::DomainPar
{
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
LOG_DEBUG( _owner.name() << ": +reader (" << _owner.print( info.info.guid() ) << ") of " << info.info );
_owner.on_reader_added( info.info.guid(), info.info.topicName().c_str() );
_owner.on_reader_added( info.info );
break;

case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::REMOVED_READER:
Expand Down Expand Up @@ -359,14 +359,14 @@ std::string dds_participant::print( dds_guid const & guid_to_print ) const
}


void dds_participant::on_writer_added( dds_guid guid, char const * topic_name )
void dds_participant::on_writer_added( eprosima::fastrtps::rtps::WriterProxyData const & data )
{
for( auto & wl : _listeners )
{
if( auto l = wl.lock() )
{
if( l->_on_writer_added )
l->_on_writer_added( guid, topic_name );
l->_on_writer_added( data );
}
}
}
Expand All @@ -385,14 +385,14 @@ void dds_participant::on_writer_removed( dds_guid guid, char const * topic_name
}


void dds_participant::on_reader_added( dds_guid guid, char const * topic_name )
void dds_participant::on_reader_added( eprosima::fastrtps::rtps::ReaderProxyData const & data )
{
for( auto & wl : _listeners )
{
if( auto l = wl.lock() )
{
if( l->_on_reader_added )
l->_on_reader_added( guid, topic_name );
l->_on_reader_added( data );
}
}
}
Expand Down
48 changes: 30 additions & 18 deletions third-party/realdds/src/dds-serialization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -416,30 +416,14 @@ std::ostream & operator<<( std::ostream & os, RemoteLocatorsAllocationAttributes

std::ostream & operator<<( std::ostream & os, WriterProxyData const & info )
{
field::group group;
os << "'" << info.topicName() << "' " << group;
os << /*field::separator << "type" <<*/ field::value << info.typeName();
os << /*field::separator << "reliability" << field::group() <<*/ info.m_qos.m_reliability;
if( ! ( info.m_qos.m_durability == eprosima::fastdds::dds::DurabilityQosPolicy() ) )
os << /*field::separator << "durability" << field::group() <<*/ info.m_qos.m_durability;
if( ! ( info.m_qos.m_liveliness == eprosima::fastdds::dds::LivelinessQosPolicy() ) )
os << field::separator << "liveliness" << field::value << info.m_qos.m_liveliness;
if( info.m_qos.m_publishMode.flow_controller_name
&& info.m_qos.m_publishMode.flow_controller_name != eprosima::fastdds::rtps::FASTDDS_FLOW_CONTROLLER_DEFAULT )
os << field::separator << "flow-controller" << field::value << "'"
<< info.m_qos.m_publishMode.flow_controller_name << "'";
os << "'" << info.topicName() << "' " << field::group() << realdds::print_writer_info( info );
return os;
}


std::ostream & operator<<( std::ostream & os, ReaderProxyData const & info )
{
field::group group;
os << "'" << info.topicName() << "' " << group;
os << /*field::separator << "type" <<*/ field::value << info.typeName();
os << /*field::separator << "reliability" << field::group() <<*/ info.m_qos.m_reliability;
if( ! ( info.m_qos.m_durability == eprosima::fastdds::dds::DurabilityQosPolicy() ) )
os << /*field::separator << "durability" << field::group() <<*/ info.m_qos.m_durability;
os << "'" << info.topicName() << "' " << field::group() << realdds::print_reader_info( info );
return os;
}

Expand Down Expand Up @@ -493,6 +477,34 @@ std::ostream & operator<<( std::ostream & os, BuiltinAttributes const & qos )
namespace realdds {


std::ostream & operator<<( std::ostream & os, print_writer_info const & pwi )
{
auto & info = pwi.info;
os << /*field::separator << "type" <<*/ field::value << info.typeName();
os << /*field::separator << "reliability" << field::group() <<*/ info.m_qos.m_reliability;
if( ! ( info.m_qos.m_durability == eprosima::fastdds::dds::DurabilityQosPolicy() ) )
os << /*field::separator << "durability" << field::group() <<*/ info.m_qos.m_durability;
if( ! ( info.m_qos.m_liveliness == eprosima::fastdds::dds::LivelinessQosPolicy() ) )
os << field::separator << "liveliness" << field::value << info.m_qos.m_liveliness;
if( info.m_qos.m_publishMode.flow_controller_name
&& info.m_qos.m_publishMode.flow_controller_name != eprosima::fastdds::rtps::FASTDDS_FLOW_CONTROLLER_DEFAULT )
os << field::separator << "flow-controller" << field::value << "'"
<< info.m_qos.m_publishMode.flow_controller_name << "'";
return os;
}


std::ostream & operator<<( std::ostream & os, print_reader_info const & pri )
{
auto & info = pri.info;
os << /*field::separator << "type" <<*/ field::value << info.typeName();
os << /*field::separator << "reliability" << field::group() <<*/ info.m_qos.m_reliability;
if( ! ( info.m_qos.m_durability == eprosima::fastdds::dds::DurabilityQosPolicy() ) )
os << /*field::separator << "durability" << field::group() <<*/ info.m_qos.m_durability;
return os;
}


eprosima::fastdds::dds::ReliabilityQosPolicyKind reliability_kind_from_string( std::string const & s )
{
if( s == "best-effort" )
Expand Down
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