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// Copyright 2019 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.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "server.h"
#include <condition_variable>
#include <csignal>
#include <iostream>
#include <mutex>
#include <regex>
#include <sstream>
#include <stdlib.h>
#include <vector>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/log/Log.hpp>
#include <fastdds/rtps/attributes/RTPSParticipantAttributes.hpp>
#include <fastdds/rtps/common/Locator.hpp>
#include <fastdds/rtps/transport/UDPv6TransportDescriptor.hpp>
#include <fastdds/rtps/transport/TCPv6TransportDescriptor.hpp>
#include <fastdds/rtps/transport/TCPv4TransportDescriptor.hpp>
#include <fastdds/utils/IPLocator.hpp>
volatile sig_atomic_t g_signal_status = 0;
std::mutex g_signal_mutex;
std::condition_variable g_signal_cv;
void sigint_handler(
int signum)
{
// Locking here is counterproductive
g_signal_status = signum;
g_signal_cv.notify_one();
}
namespace eprosima {
namespace fastdds {
namespace dds {
int fastdds_discovery_server(
int argc,
char* argv[])
{
// Convenience aliases
using Locator = fastdds::rtps::Locator_t;
using DiscoveryProtocol = fastdds::rtps::DiscoveryProtocol;
using IPLocator = fastdds::rtps::IPLocator;
// Skip program name argv[0] if present
argc -= (argc > 0);
argv += (argc > 0);
option::Stats stats(usage, argc, argv);
std::vector<option::Option> options(stats.options_max);
std::vector<option::Option> buffer(stats.buffer_max);
option::Parser parse(usage, argc, argv, &options[0], &buffer[0]);
constexpr const char* delimiter = "@";
std::string sXMLConfigFile = "";
std::string profile = "";
// Check the command line options
if (parse.error())
{
option::printUsage(std::cout, usage);
return 1;
}
if (options[UNKNOWN])
{
EPROSIMA_LOG_ERROR(CLI, "Unknown option: " << options[UNKNOWN].name);
option::printUsage(std::cout, usage);
return 1;
}
// No arguments beyond options
int noopts = parse.nonOptionsCount();
if (noopts)
{
std::string sep(noopts == 1 ? "argument: " : "arguments: ");
std::cout << "Unknown ";
while (noopts--)
{
std::cout << sep << parse.nonOption(noopts);
sep = ", ";
}
std::cout << std::endl;
return 1;
}
// Show help if asked to
if (options[HELP])
{
option::printUsage(std::cout, usage);
std::cout << EXAMPLES << std::endl;
return 0;
}
DomainParticipantQos participantQos;
if (nullptr != options[XML_FILE])
{
sXMLConfigFile = options[XML_FILE].arg;
if (sXMLConfigFile.length() > 0)
{
size_t delimiter_pos = sXMLConfigFile.find(delimiter);
if (std::string::npos != delimiter_pos)
{
profile = sXMLConfigFile.substr(0, delimiter_pos);
sXMLConfigFile = sXMLConfigFile.substr(delimiter_pos + 1, sXMLConfigFile.length());
}
if (RETCODE_OK != DomainParticipantFactory::get_instance()->load_XML_profiles_file(
sXMLConfigFile))
{
std::cout << "Cannot open XML file " << sXMLConfigFile << ". Please, check the path of this "
<< "XML file." << std::endl;
return 1;
}
if (profile.empty())
{
// Set environment variables to prevent loading the default XML file
#ifdef _WIN32
if (0 != _putenv_s("FASTDDS_DEFAULT_PROFILES_FILE", "") ||
0 != _putenv_s("SKIP_DEFAULT_XML_FILE", "1"))
{
char errmsg[1024];
strerror_s(errmsg, sizeof(errmsg), errno);
std::cout << "Error setting environment variables: " << errmsg << std::endl;
return 1;
}
#else
if (0 != unsetenv("FASTDDS_DEFAULT_PROFILES_FILE") ||
0 != setenv("SKIP_DEFAULT_XML_FILE", "1", 1))
{
std::cout << "Error setting environment variables: " << std::strerror(errno) << std::endl;
return 1;
}
#endif // ifdef _WIN32
// Set default participant QoS from XML file
if (RETCODE_OK != DomainParticipantFactory::get_instance()->load_profiles())
{
std::cout << "Error setting default DomainParticipantQos from XML default profile." << std::endl;
return 1;
}
participantQos = DomainParticipantFactory::get_instance()->get_default_participant_qos();
}
else
{
if (RETCODE_OK !=
DomainParticipantFactory::get_instance()->get_participant_qos_from_profile(
profile, participantQos))
{
std::cout << "Error loading specified profile from XML file." << std::endl;
return 1;
}
}
}
}
// Retrieve server ID: is optional and only specified once
// Note there is a specific cast to pointer if the Option is valid
option::Option* pOp = options[SERVERID];
int server_id = -1;
std::stringstream server_stream;
if (nullptr == pOp)
{
fastdds::rtps::GuidPrefix_t prefix_cero;
if (!(participantQos.wire_protocol().builtin.discovery_config.discoveryProtocol ==
eprosima::fastdds::rtps::DiscoveryProtocol::SERVER ||
participantQos.wire_protocol().builtin.discovery_config.discoveryProtocol ==
eprosima::fastdds::rtps::DiscoveryProtocol::BACKUP) && nullptr != options[XML_FILE])
{
// Discovery protocol specified in XML file is not SERVER nor BACKUP
std::cout << "The provided configuration is not valid. Participant must be either SERVER or BACKUP. " <<
std::endl;
return 1;
}
else if (participantQos.wire_protocol().prefix == prefix_cero &&
participantQos.wire_protocol().builtin.discovery_config.discoveryProtocol ==
eprosima::fastdds::rtps::DiscoveryProtocol::BACKUP)
{
// Discovery protocol specified in XML is BACKUP, but no GUID was specified
std::cout << "Specifying a GUID prefix is mandatory for BACKUP Discovery Servers." <<
"Update the XML file or use the -i argument." << std::endl;
}
}
else if (pOp->count() != 1)
{
std::cout << "Only one server can be created, thus, only one server id can be specified." << std::endl;
return 1;
}
else
{
// Cast of option to int has already been checked
server_stream << pOp->arg;
server_stream >> server_id;
if (!eprosima::fastdds::rtps::get_server_client_default_guidPrefix(server_id,
participantQos.wire_protocol().prefix))
{
std::cout << "Failed to set the GUID with the server identifier provided." << std::endl;
return 1;
}
}
// Clear the std::stringstream state and reset it to an empty string
server_stream.clear();
server_stream.str("");
// Set Participant Name
std::string server_name =
(server_id == -1) ? "eProsima Guidless Server" : "eProsima Default Server" + std::to_string(
server_id);
server_stream << server_name;
participantQos.name(server_stream.str().c_str());
// Choose the kind of server to create
pOp = options[BACKUP];
if (nullptr != pOp)
{
fastdds::rtps::GuidPrefix_t prefix_cero;
if (participantQos.wire_protocol().prefix == prefix_cero && server_id == -1)
{
// BACKUP argument used, but no GUID was specified either in the XML nor in the CLI
std::cout << "Specifying a GUID prefix is mandatory for BACKUP Discovery Servers. Use the -i argument." <<
std::endl;
return 1;
}
participantQos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::BACKUP;
}
else if (nullptr == options[XML_FILE])
{
participantQos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SERVER;
}
// Set up listening UDP locators.
/**
* The metatraffic unicast locator list can be defined:
* 1. By means of the CLI specifying a locator address (pOp != nullptr) and port (pO_port != nullptr)
* Locator: UDPAddres:port
* 2. By means of the CLI specifying only the locator address (pOp != nullptr)
* Locator: UDPAddress:11811
* 3. By means of the CLI specifying only the port number (pO_port != nullptr)
* Locator: UDPv4:[0.0.0.0]:port
* 4. By means of the XML configuration file (options[XML_FILE] != nullptr)
* 5. No information provided.
* Locator: UDPv4:[0.0.0.0]:11811
*
* The UDP CLI has priority over the XML file configuration.
*/
// If the number of specify ports doesn't match the number of IPs the last port is used.
// If at least one port specified replace the default one
Locator locator4(rtps::DEFAULT_ROS2_SERVER_PORT);
Locator locator6(LOCATOR_KIND_UDPv6, rtps::DEFAULT_ROS2_SERVER_PORT);
// Retrieve first UDP port
option::Option* pO_port = options[UDP_PORT];
if (nullptr != pO_port)
{
std::stringstream is;
is << pO_port->arg;
uint16_t id;
if (!(is >> id
&& is.eof()
&& IPLocator::setPhysicalPort(locator4, id)
&& IPLocator::setPhysicalPort(locator6, id)))
{
std::cout << "Invalid listening locator port specified:" << id << std::endl;
return 1;
}
}
IPLocator::setIPv4(locator4, 0, 0, 0, 0);
IPLocator::setIPv6(locator6, 0, 0, 0, 0, 0, 0, 0, 0);
// Retrieve first IP address
pOp = options[UDPADDRESS];
if (pOp != nullptr && pOp->arg == nullptr)
{
pOp->arg = "0.0.0.0";
}
option::Option* pO_tcp = options[TCPADDRESS];
if (pO_tcp != nullptr && pO_tcp->arg == nullptr)
{
pO_tcp->arg = "0.0.0.0";
}
// Retrieve first TCP port
option::Option* pO_tcp_port = options[TCP_PORT];
bool udp_server_initialized = (pOp != nullptr) || (pO_port != nullptr);
/**
* A locator has been initialized previously in [0.0.0.0] address using either the DEFAULT_ROS2_SERVER_PORT or the
* port number set in the CLI. This locator must be used:
* a) If there is no IP address defined in the CLI (pOp == nullptr) but the port has been defined
* (pO_port != nullptr) and there is no TCP address nor port provided by the CLI
* b) If there is no locator information provided either by CLI (UDP and TCP) or XML file
* (options[XML_FILE] == nullptr)
*/
if (nullptr == pOp && (nullptr == options[XML_FILE] || nullptr != pO_port) &&
(nullptr == pO_tcp && nullptr == pO_tcp_port))
{
// Add default locator in cases a) and b)
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.clear();
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator4);
udp_server_initialized = true;
}
else if (nullptr == pOp && nullptr != pO_port)
{
// UDP port AND TCP port/address has been specified without specifying UDP address
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.clear();
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator4);
}
else if (nullptr != pOp)
{
// UDP address has been specified
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.clear();
while (pOp)
{
// Get next address
std::string address = std::string(pOp->arg);
int type = LOCATOR_PORT_INVALID;
// Trial order IPv4, IPv6 & DNS
if (IPLocator::isIPv4(address) && IPLocator::setIPv4(locator4, address))
{
type = LOCATOR_KIND_UDPv4;
}
else if (IPLocator::isIPv6(address) && IPLocator::setIPv6(locator6, address))
{
type = LOCATOR_KIND_UDPv6;
}
else
{
auto response = IPLocator::resolveNameDNS(address);
// Add the first valid IPv4 address that we can find
if (response.first.size() > 0)
{
address = response.first.begin()->data();
if (IPLocator::setIPv4(locator4, address))
{
type = LOCATOR_KIND_UDPv4;
}
}
else if (response.second.size() > 0)
{
address = response.second.begin()->data();
if (IPLocator::setIPv6(locator6, address))
{
type = LOCATOR_KIND_UDPv6;
}
}
}
// On failure report error
if ( LOCATOR_PORT_INVALID == type )
{
std::cout << "Invalid listening locator address specified:" << address << std::endl;
return 1;
}
// Update UDP port
if (nullptr != pO_port)
{
std::stringstream is;
is << pO_port->arg;
uint16_t id;
if (!(is >> id
&& is.eof()
&& IPLocator::setPhysicalPort(locator4, id)
&& IPLocator::setPhysicalPort(locator6, id)))
{
std::cout << "Invalid listening locator port specified:" << id << std::endl;
return 1;
}
}
// Add the locator
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList
.push_back( LOCATOR_KIND_UDPv4 == type ? locator4 : locator6 );
pOp = pOp->next();
if (pO_port)
{
pO_port = pO_port->next();
}
else
{
std::cout << "Warning: the number of specified ports doesn't match the ip" << std::endl
<< " addresses provided. Locators share their port number." << std::endl;
}
}
// add UDPv6 transport if required
if (participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.has_kind<LOCATOR_KIND_UDPv6>())
{
// extend builtin transports with the UDPv6 transport
auto descriptor = std::make_shared<fastdds::rtps::UDPv6TransportDescriptor>();
descriptor->sendBufferSize = participantQos.transport().send_socket_buffer_size;
descriptor->receiveBufferSize = participantQos.transport().listen_socket_buffer_size;
participantQos.transport().user_transports.push_back(std::move(descriptor));
}
}
// Add TCP default locators addresses
Locator locator_tcp_4(LOCATOR_KIND_TCPv4, rtps::DEFAULT_TCP_SERVER_PORT);
Locator locator_tcp_6(LOCATOR_KIND_TCPv6, rtps::DEFAULT_TCP_SERVER_PORT);
bool default_port = true;
// Manage TCP port
if (nullptr != pO_tcp_port)
{
std::stringstream is;
is << pO_tcp_port->arg;
uint16_t id;
default_port = false;
if (!(is >> id
&& is.eof()
&& IPLocator::setPhysicalPort(locator_tcp_4, id)
&& IPLocator::setLogicalPort(locator_tcp_4, id)
&& IPLocator::setPhysicalPort(locator_tcp_6, id)
&& IPLocator::setLogicalPort(locator_tcp_6, id)))
{
std::cout << "Invalid listening locator port specified:" << id << std::endl;
return 1;
}
}
else
{
IPLocator::setPhysicalPort(locator_tcp_4, rtps::DEFAULT_TCP_SERVER_PORT);
IPLocator::setLogicalPort(locator_tcp_4, rtps::DEFAULT_TCP_SERVER_PORT);
IPLocator::setPhysicalPort(locator_tcp_6, rtps::DEFAULT_TCP_SERVER_PORT);
IPLocator::setLogicalPort(locator_tcp_6, rtps::DEFAULT_TCP_SERVER_PORT);
}
if (nullptr != pO_tcp || nullptr != pO_tcp_port)
{
if (nullptr == pO_tcp)
{
// Only the TCP port has been specified. Use "any" as interface for TCP to listen on all interfaces
IPLocator::setIPv4(locator_tcp_4, "0.0.0.0");
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator_tcp_4);
auto tcp_descriptor = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
tcp_descriptor->add_listener_port(static_cast<uint16_t>(locator_tcp_4.port));
participantQos.transport().user_transports.push_back(tcp_descriptor);
}
else if (nullptr != pO_tcp)
{
// Add tcp locator address
while (pO_tcp)
{
// Get next address
std::string address = std::string(pO_tcp->arg);
int type = LOCATOR_PORT_INVALID;
// Trial order IPv4, IPv6 & DNS
if (IPLocator::isIPv4(address) && IPLocator::setIPv4(locator_tcp_4, address))
{
type = LOCATOR_KIND_TCPv4;
}
else if (IPLocator::isIPv6(address) && IPLocator::setIPv6(locator_tcp_6, address))
{
type = LOCATOR_KIND_TCPv6;
}
else
{
auto response = IPLocator::resolveNameDNS(address);
// Add the first valid IPv4 address that we can find
if (response.first.size() > 0)
{
address = response.first.begin()->data();
if (IPLocator::setIPv4(locator_tcp_4, address))
{
type = LOCATOR_KIND_TCPv4;
}
}
else if (response.second.size() > 0)
{
address = response.second.begin()->data();
if (IPLocator::setIPv6(locator_tcp_6, address))
{
type = LOCATOR_KIND_TCPv6;
}
}
}
// On failure report error
if ( LOCATOR_PORT_INVALID == type )
{
std::cout << "Invalid listening locator address specified:" << address << std::endl;
return 1;
}
// Update TCP port
if (nullptr != pO_tcp_port)
{
std::stringstream is;
is << pO_tcp_port->arg;
uint16_t id;
if (!(is >> id
&& is.eof()
&& IPLocator::setPhysicalPort(locator_tcp_4, id)
&& IPLocator::setLogicalPort(locator_tcp_4, id)
&& IPLocator::setPhysicalPort(locator_tcp_6, id)
&& IPLocator::setLogicalPort(locator_tcp_6, id)))
{
std::cout << "Invalid listening locator port specified:" << id << std::endl;
return 1;
}
}
// Add the locator
participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList
.push_back( LOCATOR_KIND_TCPv4 == type ? locator_tcp_4 : locator_tcp_6 );
// Create user transport
if (type == LOCATOR_KIND_TCPv4)
{
auto tcp_descriptor = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
tcp_descriptor->add_listener_port(static_cast<uint16_t>(locator_tcp_4.port));
participantQos.transport().user_transports.push_back(tcp_descriptor);
}
else
{
auto tcp_descriptor = std::make_shared<eprosima::fastdds::rtps::TCPv6TransportDescriptor>();
tcp_descriptor->add_listener_port(static_cast<uint16_t>(locator_tcp_6.port));
participantQos.transport().user_transports.push_back(tcp_descriptor);
}
pO_tcp = pO_tcp->next();
if (pO_tcp_port)
{
pO_tcp_port = pO_tcp_port->next();
default_port = false;
}
else
{
if (!default_port)
{
std::cout << "Error: the number of specified TCP ports doesn't match the ip addresses" <<
std::endl
<< " provided. TCP transports cannot share their port number." << std::endl;
return 1;
}
// One default port has already been used
default_port = false;
}
}
}
}
fastdds::rtps::GuidPrefix_t guid_prefix = participantQos.wire_protocol().prefix;
participantQos.transport().use_builtin_transports = udp_server_initialized || options[XML_FILE] != nullptr;
// Create the server
int return_value = 0;
DomainParticipant* pServer = DomainParticipantFactory::get_instance()->create_participant(0, participantQos);
if (nullptr == pServer)
{
std::cout << "Server creation failed with the given settings. Please review locators setup." << std::endl;
return_value = 1;
}
else
{
std::unique_lock<std::mutex> lock(g_signal_mutex);
// Handle signal SIGINT for every thread
signal(SIGINT, sigint_handler);
signal(SIGTERM, sigint_handler);
#ifndef _WIN32
signal(SIGQUIT, sigint_handler);
signal(SIGHUP, sigint_handler);
#endif // ifndef _WIN32
bool has_security = false;
if (guid_prefix != pServer->guid().guidPrefix)
{
has_security = true;
}
// Print running server attributes
std::cout << "### Server is running ###" << std::endl;
std::cout << " Participant Type: " <<
participantQos.wire_protocol().builtin.discovery_config.discoveryProtocol <<
std::endl;
std::cout << " Security: " << (has_security ? "YES" : "NO") << std::endl;
std::cout << " Server GUID prefix: " << pServer->guid().guidPrefix << std::endl;
std::cout << " Server Addresses: ";
for (auto locator_it = participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.begin();
locator_it != participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.end();)
{
std::cout << *locator_it;
if (++locator_it != participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.end())
{
std::cout << std::endl << " ";
}
}
std::cout << std::endl;
g_signal_cv.wait(lock, []
{
return 0 != g_signal_status;
});
std::cout << std::endl << "### Server shut down ###" << std::endl;
DomainParticipantFactory::get_instance()->delete_participant(pServer);
}
Log::Flush();
std::cout.flush();
return return_value;
}
} // namespace dds
} // namespace fastdds
} // namespace eprosima
int main (
int argc,
char* argv[])
{
return eprosima::fastdds::dds::fastdds_discovery_server(argc, argv);
}
// Argument validation function definitions
/* Static */
option::ArgStatus Arg::check_server_id(
const option::Option& option,
bool msg)
{
// The argument is required
if (nullptr != option.arg)
{
// It must be a number within 0 and 255
std::stringstream is;
is << option.arg;
int id;
if (is >> id
&& is.eof()
&& id >= 0
&& id < 256 )
{
return option::ARG_OK;
}
}
if (msg)
{
std::cout << "\nOption '" << option.name
<< "' is optional. Should be a key identifier between 0 and 255." << std::endl;
}
return option::ARG_ILLEGAL;
}
/* Static */
option::ArgStatus Arg::required(
const option::Option& option,
bool msg)
{
if (nullptr != option.arg)
{
return option::ARG_OK;
}
if (msg)
{
std::cout << "\nOption '" << option.desc->longopt << "' requires an argument." << std::endl;
}
return option::ARG_ILLEGAL;
}
/* Static */
option::ArgStatus Arg::check_udp_port(
const option::Option& option,
bool msg)
{
// The argument is required
if (nullptr != option.arg)
{
// It must be in an ephemeral port range
std::stringstream is;
is << option.arg;
int id;
if (is >> id
&& is.eof()
&& id > 1024
&& id < 65536)
{
return option::ARG_OK;
}
}
if (msg)
{
std::cout << "\nOption '" << option.name
<< "' value should be an UDP port between 1025 and 65535." << std::endl;
}
return option::ARG_ILLEGAL;
}
option::ArgStatus Arg::check_tcp_port(
const option::Option& option,
bool msg)
{
// The argument is required
if (nullptr != option.arg)
{
// It must be in an ephemeral port range
std::stringstream is;
is << option.arg;
int id;
if (is >> id
&& is.eof()
&& id > 1024
&& id < 65536)
{
return option::ARG_OK;
}
}
if (msg)
{
std::cout << "\nOption '" << option.name
<< "' value should be an TCP port between 1025 and 65535." << std::endl;
}
return option::ARG_ILLEGAL;
}
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