rustdds/dds/

pubsub.rs

use std::{
  fmt::Debug,
  sync::{Arc, Mutex, MutexGuard, RwLock},
  time::Duration,
};

use serde::{Deserialize, Serialize};
use mio_extras::channel as mio_channel;
use byteorder::LittleEndian;
#[allow(unused_imports)]
use log::{debug, error, info, trace, warn};

use crate::{
  create_error_dropped, create_error_poisoned,
  dds::{
    adapters,
    key::Keyed,
    no_key,
    no_key::{
      datareader::DataReader as NoKeyDataReader, datawriter::DataWriter as NoKeyDataWriter,
    },
    participant::*,
    qos::*,
    result::{CreateError, CreateResult, WaitResult},
    statusevents::{sync_status_channel, DataReaderStatus},
    topic::*,
    with_key,
    with_key::{
      datareader::DataReader as WithKeyDataReader, datawriter::DataWriter as WithKeyDataWriter,
    },
  },
  discovery::{
    discovery::DiscoveryCommand, discovery_db::DiscoveryDB, sedp_messages::DiscoveredWriterData,
  },
  mio_source,
  rtps::{
    reader::ReaderIngredients,
    writer::{WriterCommand, WriterIngredients},
  },
  serialization::{CDRDeserializerAdapter, CDRSerializerAdapter},
  structure::{
    entity::RTPSEntity,
    guid::{EntityId, EntityKind, GUID},
  },
};
use super::{
  helpers::try_send_timeout,
  no_key::wrappers::{DAWrapper, NoKeyWrapper, SAWrapper},
  with_key::simpledatareader::ReaderCommand,
};
#[cfg(feature = "security")]
use crate::{
  create_error_internal, create_error_not_allowed_by_security,
  security::{security_plugins::SecurityPluginsHandle, EndpointSecurityInfo},
};
#[cfg(not(feature = "security"))]
use crate::no_security::{security_plugins::SecurityPluginsHandle, EndpointSecurityInfo};

// -------------------------------------------------------------------

/// DDS Publisher
///
/// The Publisher and Subscriber structures are collections of DataWriters
/// and, respectively, DataReaders. They can contain DataWriters or DataReaders
/// of different types, and attached to different Topics.
///
/// They can act as a domain of sample ordering or atomicity, if such QoS
/// policies are used. For example, DDS participants could agree via QoS
/// policies that data samples must be presented to readers in the same order as
/// writers have written them, and the ordering applies also between several
/// writers/readers, but within one publisher/subscriber. Analogous arrangement
/// can be set up w.r.t. coherency: All the samples in a transaction are
/// delivered to the readers, or none are. The transaction can span several
/// readers, writers, and topics in a single publisher/subscriber.
///
///
/// # Examples
///
/// ```
/// # use rustdds::DomainParticipant;
/// # use rustdds::qos::QosPolicyBuilder;
/// use rustdds::Publisher;
///
/// let domain_participant = DomainParticipant::new(0).unwrap();
/// let qos = QosPolicyBuilder::new().build();
///
/// let publisher = domain_participant.create_publisher(&qos);
/// ```
#[derive(Clone)]
pub struct Publisher {
  inner: Arc<Mutex<InnerPublisher>>,
}

impl Publisher {
  #[allow(clippy::too_many_arguments)]
  pub(super) fn new(
    dp: DomainParticipantWeak,
    discovery_db: Arc<RwLock<DiscoveryDB>>,
    qos: QosPolicies,
    default_dw_qos: QosPolicies,
    add_writer_sender: mio_channel::SyncSender<WriterIngredients>,
    remove_writer_sender: mio_channel::SyncSender<GUID>,
    discovery_command: mio_channel::SyncSender<DiscoveryCommand>,
    security_plugins_handle: Option<SecurityPluginsHandle>,
  ) -> Self {
    Self {
      inner: Arc::new(Mutex::new(InnerPublisher::new(
        dp,
        discovery_db,
        qos,
        default_dw_qos,
        add_writer_sender,
        remove_writer_sender,
        discovery_command,
        security_plugins_handle,
      ))),
    }
  }

  fn inner_lock(&self) -> MutexGuard<'_, InnerPublisher> {
    self
      .inner
      .lock()
      .unwrap_or_else(|e| panic!("Inner publisher lock fail! {e:?}"))
  }

  /// Creates DDS [DataWriter](struct.With_Key_DataWriter.html) for Keyed topic
  ///
  /// # Arguments
  ///
  /// * `entity_id` - Custom entity id if necessary for the user to define it
  /// * `topic` - Reference to DDS Topic this writer is created to
  /// * `qos` - Not currently in use
  ///
  /// # Examples
  ///
  /// ```
  /// # use rustdds::*;
  /// use rustdds::serialization::CDRSerializerAdapter;
  /// use serde::Serialize;
  ///
  /// let domain_participant = DomainParticipant::new(0).unwrap();
  /// let qos = QosPolicyBuilder::new().build();
  ///
  /// let publisher = domain_participant.create_publisher(&qos).unwrap();
  ///
  /// #[derive(Serialize)]
  /// struct SomeType { a: i32 }
  /// impl Keyed for SomeType {
  ///   type K = i32;
  ///
  ///   fn key(&self) -> Self::K {
  ///     self.a
  ///   }
  /// }
  ///
  /// let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::WithKey).unwrap();
  /// let data_writer = publisher.create_datawriter::<SomeType, CDRSerializerAdapter<_>>(&topic, None);
  /// ```
  pub fn create_datawriter<D, SA>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<WithKeyDataWriter<D, SA>>
  where
    D: Keyed,
    SA: adapters::with_key::SerializerAdapter<D>,
  {
    self
      .inner_lock()
      .create_datawriter(self, None, topic, qos, false)
  }

  /// Shorthand for crate_datawriter with Common Data Representation Little
  /// Endian
  pub fn create_datawriter_cdr<D>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<WithKeyDataWriter<D, CDRSerializerAdapter<D, LittleEndian>>>
  where
    D: Keyed + serde::Serialize,
    <D as Keyed>::K: Serialize,
  {
    self.create_datawriter::<D, CDRSerializerAdapter<D, LittleEndian>>(topic, qos)
  }

  /// Creates DDS [DataWriter](struct.DataWriter.html) for Nokey Topic
  ///
  /// # Arguments
  ///
  /// * `entity_id` - Custom entity id if necessary for the user to define it
  /// * `topic` - Reference to DDS Topic this writer is created to
  /// * `qos` - QoS policies for this DataWriter
  ///
  /// # Examples
  ///
  /// ```
  /// # use rustdds::*;
  /// use rustdds::serialization::CDRSerializerAdapter;
  /// use serde::Serialize;
  ///
  /// let domain_participant = DomainParticipant::new(0).unwrap();
  /// let qos = QosPolicyBuilder::new().build();
  ///
  /// let publisher = domain_participant.create_publisher(&qos).unwrap();
  ///
  /// #[derive(Serialize)]
  /// struct SomeType {}
  ///
  /// let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::WithKey).unwrap();
  /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(&topic, None);
  /// ```
  pub fn create_datawriter_no_key<D, SA>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<NoKeyDataWriter<D, SA>>
  where
    SA: adapters::no_key::SerializerAdapter<D>,
  {
    self
      .inner_lock()
      .create_datawriter_no_key(self, None, topic, qos, false)
  }

  pub fn create_datawriter_no_key_cdr<D>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<NoKeyDataWriter<D, CDRSerializerAdapter<D, LittleEndian>>>
  where
    D: serde::Serialize,
  {
    self.create_datawriter_no_key::<D, CDRSerializerAdapter<D, LittleEndian>>(topic, qos)
  }

  // Versions with callee-specified EntityId. These are for Discovery use only.

  pub(crate) fn create_datawriter_with_entity_id_with_key<D, SA>(
    &self,
    entity_id: EntityId,
    topic: &Topic,
    qos: Option<QosPolicies>,
    writer_like_stateless: bool, // Create a stateless-like RTPS writer?
  ) -> CreateResult<WithKeyDataWriter<D, SA>>
  where
    D: Keyed,
    SA: adapters::with_key::SerializerAdapter<D>,
  {
    self
      .inner_lock()
      .create_datawriter(self, Some(entity_id), topic, qos, writer_like_stateless)
  }

  #[cfg(feature = "security")] // to avoid "never used" warning
  pub(crate) fn create_datawriter_with_entity_id_no_key<D, SA>(
    &self,
    entity_id: EntityId,
    topic: &Topic,
    qos: Option<QosPolicies>,
    writer_like_stateless: bool, // Create a stateless-like RTPS writer?
  ) -> CreateResult<NoKeyDataWriter<D, SA>>
  where
    SA: crate::no_key::SerializerAdapter<D>,
  {
    self.inner_lock().create_datawriter_no_key(
      self,
      Some(entity_id),
      topic,
      qos,
      writer_like_stateless,
    )
  }

  // delete_datawriter should not be needed. The DataWriter object itself should
  // be deleted to accomplish this.

  // lookup datawriter: maybe not necessary? App should remember datawriters it
  // has created.

  // Suspend and resume publications are performance optimization methods.
  // The minimal correct implementation is to do nothing. See DDS spec 2.2.2.4.1.8
  // and .9
  /// **NOT IMPLEMENTED. DO NOT USE**
  #[deprecated(note = "unimplemented")]
  pub fn suspend_publications(&self) {
    unimplemented!();
  }

  /// **NOT IMPLEMENTED. DO NOT USE**
  #[deprecated(note = "unimplemented")]
  pub fn resume_publications(&self) {
    unimplemented!();
  }

  // coherent change set
  // In case such QoS is not supported, these should be no-ops.
  // TODO: Implement these when coherent change-sets are supported.
  // Coherent set not implemented and currently does nothing
  /// **NOT IMPLEMENTED. DO NOT USE**
  #[deprecated(note = "unimplemented")]
  pub fn begin_coherent_changes(&self) {}

  // Coherent set not implemented and currently does nothing
  /// **NOT IMPLEMENTED. DO NOT USE**
  #[deprecated(note = "unimplemented")]
  pub fn end_coherent_changes(&self) {}

  // Wait for all matched reliable DataReaders acknowledge data written so far,
  // or timeout.
  /// **NOT IMPLEMENTED. DO NOT USE**
  #[deprecated(note = "unimplemented")]
  pub fn wait_for_acknowledgments(&self, _max_wait: Duration) -> WaitResult<()> {
    unimplemented!();
  }

  // What is the use case for this? (is it useful in Rust style of programming?
  // Should it be public?)
  /// Gets [DomainParticipant](struct.DomainParticipant.html) if it has not
  /// disappeared from all scopes.
  ///
  /// # Example
  ///
  /// ```
  /// # use rustdds::*;
  ///
  /// let domain_participant = DomainParticipant::new(0).unwrap();
  /// let qos = QosPolicyBuilder::new().build();
  ///
  /// let publisher = domain_participant.create_publisher(&qos).unwrap();
  /// assert_eq!(domain_participant, publisher.participant().unwrap());
  /// ```
  pub fn participant(&self) -> Option<DomainParticipant> {
    self.inner_lock().domain_participant.clone().upgrade()
  }

  // delete_contained_entities: We should not need this. Contained DataWriters
  // should dispose themselves and notify publisher.

  /// Returns default DataWriter qos.
  ///
  /// # Example
  ///
  /// ```
  /// # use rustdds::*;
  ///
  /// let domain_participant = DomainParticipant::new(0).unwrap();
  /// let qos = QosPolicyBuilder::new().build();
  ///
  /// let publisher = domain_participant.create_publisher(&qos).unwrap();
  /// assert_eq!(qos, publisher.get_default_datawriter_qos());
  /// ```
  pub fn get_default_datawriter_qos(&self) -> QosPolicies {
    self.inner_lock().get_default_datawriter_qos().clone()
  }

  /// Sets default DataWriter qos.
  ///
  /// # Example
  ///
  /// ```
  /// # use rustdds::*;
  ///
  /// let domain_participant = DomainParticipant::new(0).unwrap();
  /// let qos = QosPolicyBuilder::new().build();
  ///
  /// let mut publisher = domain_participant.create_publisher(&qos).unwrap();
  /// let qos2 =
  /// QosPolicyBuilder::new().durability(policy::Durability::Transient).build();
  /// publisher.set_default_datawriter_qos(&qos2);
  ///
  /// assert_ne!(qos, publisher.get_default_datawriter_qos());
  /// assert_eq!(qos2, publisher.get_default_datawriter_qos());
  /// ```
  pub fn set_default_datawriter_qos(&mut self, q: &QosPolicies) {
    self.inner_lock().set_default_datawriter_qos(q);
  }

  // This is used on DataWriter .drop()
  pub(crate) fn remove_writer(&self, guid: GUID) {
    self.inner_lock().remove_writer(guid);
  }
} // impl

impl PartialEq for Publisher {
  fn eq(&self, other: &Self) -> bool {
    let id_self = { self.inner_lock().identity() };
    let id_other = { other.inner_lock().identity() };
    id_self == id_other
  }
}

impl Debug for Publisher {
  fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
    self.inner_lock().fmt(f)
  }
}

// "Inner" struct

#[derive(Clone)]
struct InnerPublisher {
  id: EntityId,
  domain_participant: DomainParticipantWeak,
  discovery_db: Arc<RwLock<DiscoveryDB>>,
  my_qos_policies: QosPolicies,
  default_datawriter_qos: QosPolicies, // used when creating a new DataWriter
  add_writer_sender: mio_channel::SyncSender<WriterIngredients>,
  remove_writer_sender: mio_channel::SyncSender<GUID>,
  discovery_command: mio_channel::SyncSender<DiscoveryCommand>,
  security_plugins_handle: Option<SecurityPluginsHandle>,
}

// public interface for Publisher
impl InnerPublisher {
  #[allow(clippy::too_many_arguments)]
  fn new(
    dp: DomainParticipantWeak,
    discovery_db: Arc<RwLock<DiscoveryDB>>,
    qos: QosPolicies,
    default_dw_qos: QosPolicies,
    add_writer_sender: mio_channel::SyncSender<WriterIngredients>,
    remove_writer_sender: mio_channel::SyncSender<GUID>,
    discovery_command: mio_channel::SyncSender<DiscoveryCommand>,
    security_plugins_handle: Option<SecurityPluginsHandle>,
  ) -> Self {
    // We generate an arbitrary but unique id to distinguish Publishers from each
    // other. EntityKind is just some value, since we do not show it to anyone.
    let id = EntityId::MAX;
    // dp.clone().upgrade().unwrap().new_entity_id(EntityKind::UNKNOWN_BUILT_IN);

    Self {
      id,
      domain_participant: dp,
      discovery_db,
      my_qos_policies: qos,
      default_datawriter_qos: default_dw_qos,
      add_writer_sender,
      remove_writer_sender,
      discovery_command,
      security_plugins_handle,
    }
  }

  pub fn create_datawriter<D, SA>(
    &self,
    outer: &Publisher,
    entity_id_opt: Option<EntityId>,
    topic: &Topic,
    optional_qos: Option<QosPolicies>,
    writer_like_stateless: bool, // Create a stateless-like RTPS writer? Usually false
  ) -> CreateResult<WithKeyDataWriter<D, SA>>
  where
    D: Keyed,
    SA: adapters::with_key::SerializerAdapter<D>,
  {
    // Data samples from DataWriter to HistoryCache
    let (dwcc_upload, hccc_download) = mio_channel::sync_channel::<WriterCommand>(16);
    let writer_waker = Arc::new(Mutex::new(None));
    // Status reports back from Writer to DataWriter.
    let (status_sender, status_receiver) = sync_status_channel(4)?;

    // DDS Spec 2.2.2.4.1.5 create_datawriter:
    // If no QoS is specified, we should take the Publisher default
    // QoS, modify it to match any QoS settings (that are set) in the
    // Topic QoS and use that.

    // Use Publisher QoS as basis, modify by Topic settings, and modify by specified
    // QoS.
    let writer_qos = self
      .default_datawriter_qos
      .modify_by(&topic.qos())
      .modify_by(&optional_qos.unwrap_or_else(QosPolicies::qos_none));

    let entity_id =
      self.unwrap_or_new_entity_id(entity_id_opt, EntityKind::WRITER_WITH_KEY_USER_DEFINED);
    let dp = self
      .participant()
      .ok_or("upgrade fail")
      .or_else(|e| create_error_dropped!("Where is my DomainParticipant? {}", e))?;

    let guid = GUID::new_with_prefix_and_id(dp.guid().prefix, entity_id);

    #[cfg(feature = "security")]
    if let Some(sec_handle) = self.security_plugins_handle.as_ref() {
      // Security is enabled.
      // Check are we allowed to create the DataWriter from Access control
      let check_res = sec_handle.get_plugins().check_create_datawriter(
        guid.prefix,
        dp.domain_id(),
        topic.name(),
        &writer_qos,
      );
      match check_res {
        Ok(check_passed) => {
          if !check_passed {
            return create_error_not_allowed_by_security!(
              "Not allowed to create a DataWriter to topic {}",
              topic.name()
            );
          }
        }
        Err(e) => {
          // Something went wrong in the check
          return create_error_internal!(
            "Failed to check DataWriter rights from Access control: {}",
            e.msg
          );
        }
      };

      // Register Writer to crypto plugin
      if let Err(e) = {
        let writer_security_attributes = sec_handle
          .get_plugins()
          .get_writer_sec_attributes(guid, topic.name()); // Release lock
        writer_security_attributes.and_then(|attributes| {
          sec_handle
            .get_plugins()
            .register_local_writer(guid, writer_qos.property(), attributes)
        })
      } {
        return create_error_internal!(
          "Failed to register writer to crypto plugin: {} . GUID: {:?}",
          e,
          guid
        );
      } else {
        info!("Registered local writer to crypto plugin. GUID: {guid:?}");
      }
    }

    // Construct the data writer
    let data_writer = WithKeyDataWriter::<D, SA>::new(
      outer.clone(),
      topic.clone(),
      writer_qos.clone(),
      guid,
      dwcc_upload,
      Arc::clone(&writer_waker),
      self.discovery_command.clone(),
      status_receiver,
    )?;

    // Construct security info if needed
    #[cfg(not(feature = "security"))]
    let security_info = None;
    #[cfg(feature = "security")]
    let security_info = if let Some(sec_handle) = self.security_plugins_handle.as_ref() {
      // Security enabled
      if guid.entity_id.entity_kind.is_user_defined() {
        match sec_handle
          .get_plugins()
          .get_writer_sec_attributes(guid, topic.name())
        {
          Ok(attr) => EndpointSecurityInfo::from(attr).into(),
          Err(e) => {
            return create_error_internal!(
              "Failed to get security info for writer: {}. Guid: {:?}",
              e,
              guid
            );
          }
        }
      } else {
        None // For the built-in topics
      }
    } else {
      // No security enabled
      None
    };

    // Add the topic & writer to Discovery DB
    let mut db = self
      .discovery_db
      .write()
      .map_err(|e| CreateError::Poisoned {
        reason: format!("Discovery DB: {e}"),
      })?;

    let dwd = DiscoveredWriterData::new(&data_writer, topic, &dp, security_info);
    db.update_local_topic_writer(dwd);
    db.update_topic_data_p(topic);

    // Inform Discovery about the topic
    if let Err(e) = self.discovery_command.try_send(DiscoveryCommand::AddTopic {
      topic_name: topic.name(),
    }) {
      // Log the error but don't quit, failing to inform Discovery about the topic
      // shouldn't be that serious
      error!(
        "Failed send DiscoveryCommand::AddTopic about topic {}: {}",
        topic.name(),
        e
      );
    }

    // Note: notifying Discovery about the new writer is no longer done here.
    // Instead, it's done by the DP event loop once it has actually created the new
    // writer. This is done to avoid data races.

    // Send writer ingredients to DP event loop, where the actual writer will be
    // constructed
    let new_writer = WriterIngredients {
      guid,
      writer_command_receiver: hccc_download,
      writer_command_receiver_waker: writer_waker,
      topic_name: topic.name(),
      like_stateless: writer_like_stateless,
      qos_policies: writer_qos,
      status_sender,
      security_plugins: self.security_plugins_handle.clone(),
    };

    self
      .add_writer_sender
      .send(new_writer)
      .or_else(|e| create_error_poisoned!("Adding a new writer failed: {}", e))?;

    // Return the DataWriter to user
    Ok(data_writer)
  }

  pub fn create_datawriter_no_key<D, SA>(
    &self,
    outer: &Publisher,
    entity_id_opt: Option<EntityId>,
    topic: &Topic,
    qos: Option<QosPolicies>,
    writer_like_stateless: bool, // Create a stateless-like RTPS writer? Usually false
  ) -> CreateResult<NoKeyDataWriter<D, SA>>
  where
    SA: adapters::no_key::SerializerAdapter<D>,
  {
    let entity_id =
      self.unwrap_or_new_entity_id(entity_id_opt, EntityKind::WRITER_NO_KEY_USER_DEFINED);
    let d = self.create_datawriter::<NoKeyWrapper<D>, SAWrapper<SA>>(
      outer,
      Some(entity_id),
      topic,
      qos,
      writer_like_stateless,
    )?;
    Ok(NoKeyDataWriter::<D, SA>::from_keyed(d))
  }

  pub fn participant(&self) -> Option<DomainParticipant> {
    self.domain_participant.clone().upgrade()
  }

  pub fn get_default_datawriter_qos(&self) -> &QosPolicies {
    &self.default_datawriter_qos
  }

  pub fn set_default_datawriter_qos(&mut self, q: &QosPolicies) {
    self.default_datawriter_qos = q.clone();
  }

  fn unwrap_or_new_entity_id(
    &self,
    entity_id_opt: Option<EntityId>,
    entity_kind: EntityKind,
  ) -> EntityId {
    // If the entity_id is given, then just use that. If not, then pull an arbitrary
    // number out of participant's hat.
    entity_id_opt.unwrap_or_else(|| self.participant().unwrap().new_entity_id(entity_kind))
  }

  pub(crate) fn remove_writer(&self, guid: GUID) {
    try_send_timeout(&self.remove_writer_sender, guid, None)
      .unwrap_or_else(|e| error!("Cannot remove Writer {guid:?} : {e:?}"));
  }

  pub(crate) fn identity(&self) -> EntityId {
    self.id
  }
}

impl Debug for InnerPublisher {
  fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
    f.write_fmt(format_args!("{:?}", self.participant()))?;
    f.write_fmt(format_args!("Publisher QoS: {:?}", self.my_qos_policies))?;
    f.write_fmt(format_args!(
      "Publishers default Writer QoS: {:?}",
      self.default_datawriter_qos
    ))
  }
}

// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------
// -------------------------------------------------------------------

/// DDS Subscriber
///
/// See overview at [`Publisher`].
///
/// # Examples
///
/// ```
/// # use rustdds::*;
///
/// let domain_participant = DomainParticipant::new(0).unwrap();
/// let qos = QosPolicyBuilder::new().build();
///
/// let subscriber = domain_participant.create_subscriber(&qos);
/// ```
#[derive(Clone)]
pub struct Subscriber {
  inner: Arc<InnerSubscriber>,
}

impl Subscriber {
  pub(super) fn new(
    domain_participant: DomainParticipantWeak,
    discovery_db: Arc<RwLock<DiscoveryDB>>,
    qos: QosPolicies,
    sender_add_reader: mio_channel::SyncSender<ReaderIngredients>,
    sender_remove_reader: mio_channel::SyncSender<GUID>,
    discovery_command: mio_channel::SyncSender<DiscoveryCommand>,
    security_plugins_handle: Option<SecurityPluginsHandle>,
  ) -> Self {
    Self {
      inner: Arc::new(InnerSubscriber::new(
        domain_participant,
        discovery_db,
        qos,
        sender_add_reader,
        sender_remove_reader,
        discovery_command,
        security_plugins_handle,
      )),
    }
  }

  /// Creates DDS DataReader for keyed Topics
  ///
  /// # Arguments
  ///
  /// * `topic` - Reference to the DDS [Topic](struct.Topic.html) this reader
  ///   reads from
  /// * `entity_id` - Optional [EntityId](data_types/struct.EntityId.html) if
  ///   necessary for DDS communication (random if None)
  /// * `qos` - Not in use
  ///
  /// # Examples
  ///
  /// ```
  /// # use rustdds::*;
  /// use serde::Deserialize;
  /// use rustdds::serialization::CDRDeserializerAdapter;
  /// #
  /// # let domain_participant = DomainParticipant::new(0).unwrap();
  /// # let qos = QosPolicyBuilder::new().build();
  /// #
  ///
  /// let subscriber = domain_participant.create_subscriber(&qos).unwrap();
  ///
  /// #[derive(Deserialize)]
  /// struct SomeType { a: i32 }
  /// impl Keyed for SomeType {
  ///   type K = i32;
  ///
  ///   fn key(&self) -> Self::K {
  ///     self.a
  ///   }
  /// }
  ///
  /// let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::WithKey).unwrap();
  /// let data_reader = subscriber.create_datareader::<SomeType, CDRDeserializerAdapter<_>>(&topic, None);
  /// ```
  pub fn create_datareader<D, SA>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<WithKeyDataReader<D, SA>>
  where
    D: 'static + Keyed,
    SA: adapters::with_key::DeserializerAdapter<D>,
  {
    self.inner.create_datareader(self, topic, None, qos, false)
  }

  pub fn create_datareader_cdr<D>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<WithKeyDataReader<D, CDRDeserializerAdapter<D>>>
  where
    D: 'static + serde::de::DeserializeOwned + Keyed,
    for<'de> <D as Keyed>::K: Deserialize<'de>,
  {
    self.create_datareader::<D, CDRDeserializerAdapter<D>>(topic, qos)
  }

  /// Create DDS DataReader for non keyed Topics
  ///
  /// # Arguments
  ///
  /// * `topic` - Reference to the DDS [Topic](struct.Topic.html) this reader
  ///   reads from
  /// * `entity_id` - Optional [EntityId](data_types/struct.EntityId.html) if
  ///   necessary for DDS communication (random if None)
  /// * `qos` - Not in use
  ///
  /// # Examples
  ///
  /// ```
  /// # use rustdds::*;
  /// use serde::Deserialize;
  /// use rustdds::serialization::CDRDeserializerAdapter;
  /// #
  /// # let domain_participant = DomainParticipant::new(0).unwrap();
  /// # let qos = QosPolicyBuilder::new().build();
  /// #
  ///
  /// let subscriber = domain_participant.create_subscriber(&qos).unwrap();
  ///
  /// #[derive(Deserialize)]
  /// struct SomeType {}
  ///
  /// let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::NoKey).unwrap();
  /// let data_reader = subscriber.create_datareader_no_key::<SomeType, CDRDeserializerAdapter<_>>(&topic, None);
  /// ```
  pub fn create_datareader_no_key<D, SA>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<NoKeyDataReader<D, SA>>
  where
    D: 'static,
    SA: adapters::no_key::DeserializerAdapter<D>,
  {
    self
      .inner
      .create_datareader_no_key(self, topic, None, qos, false)
  }

  pub fn create_simple_datareader_no_key<D, DA>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<no_key::SimpleDataReader<D, DA>>
  where
    D: 'static,
    DA: 'static + adapters::no_key::DeserializerAdapter<D>,
  {
    self
      .inner
      .create_simple_datareader_no_key(self, topic, None, qos)
  }

  pub fn create_datareader_no_key_cdr<D>(
    &self,
    topic: &Topic,
    qos: Option<QosPolicies>,
  ) -> CreateResult<NoKeyDataReader<D, CDRDeserializerAdapter<D>>>
  where
    D: 'static + serde::de::DeserializeOwned,
  {
    self.create_datareader_no_key::<D, CDRDeserializerAdapter<D>>(topic, qos)
  }

  // versions with callee-specified EntityId. These are for Discovery use only.

  pub(crate) fn create_datareader_with_entity_id_with_key<D, SA>(
    &self,
    topic: &Topic,
    entity_id: EntityId,
    qos: Option<QosPolicies>,
    reader_like_stateless: bool, // Create a stateless-like RTPS reader?
  ) -> CreateResult<WithKeyDataReader<D, SA>>
  where
    D: 'static + Keyed,
    SA: adapters::with_key::DeserializerAdapter<D>,
  {
    self
      .inner
      .create_datareader(self, topic, Some(entity_id), qos, reader_like_stateless)
  }

  #[cfg(feature = "security")] // to avoid "never used" warning
  pub(crate) fn create_datareader_with_entity_id_no_key<D, SA>(
    &self,
    topic: &Topic,
    entity_id: EntityId,
    qos: Option<QosPolicies>,
    reader_like_stateless: bool, // Create a stateless-like RTPS reader?
  ) -> CreateResult<NoKeyDataReader<D, SA>>
  where
    D: 'static,
    SA: adapters::no_key::DeserializerAdapter<D>,
  {
    self
      .inner
      .create_datareader_no_key(self, topic, Some(entity_id), qos, reader_like_stateless)
  }

  // Retrieves a previously created DataReader belonging to the Subscriber.
  // TODO: Is this even possible. Would probably need to return reference and
  // store references on creation
  /*
  pub(crate) fn lookup_datareader<D, SA>(
    &self,
    _topic_name: &str,
  ) -> Option<WithKeyDataReader<D, SA>>
  where
    D: Keyed + DeserializeOwned,
    SA: DeserializerAdapter<D>,
  {
    todo!()
  // TO think: Is this really necessary? Because the caller would have to know
    // types D and SA. Should we just trust whoever creates DataReaders to also remember them?
  }
  */

  /// Returns [DomainParticipant](struct.DomainParticipant.html) if it is sill
  /// alive.
  ///
  /// # Example
  ///
  /// ```
  /// # use rustdds::*;
  /// #
  /// let domain_participant = DomainParticipant::new(0).unwrap();
  /// let qos = QosPolicyBuilder::new().build();
  ///
  /// let subscriber = domain_participant.create_subscriber(&qos).unwrap();
  /// assert_eq!(domain_participant, subscriber.participant().unwrap());
  /// ```
  pub fn participant(&self) -> Option<DomainParticipant> {
    self.inner.participant()
  }

  pub(crate) fn remove_reader(&self, guid: GUID) {
    self.inner.remove_reader(guid);
  }
}

#[derive(Clone)]
pub struct InnerSubscriber {
  domain_participant: DomainParticipantWeak,
  discovery_db: Arc<RwLock<DiscoveryDB>>,
  qos: QosPolicies,
  sender_add_reader: mio_channel::SyncSender<ReaderIngredients>,
  sender_remove_reader: mio_channel::SyncSender<GUID>,
  discovery_command: mio_channel::SyncSender<DiscoveryCommand>,
  security_plugins_handle: Option<SecurityPluginsHandle>,
}

impl InnerSubscriber {
  pub(super) fn new(
    domain_participant: DomainParticipantWeak,
    discovery_db: Arc<RwLock<DiscoveryDB>>,
    qos: QosPolicies,
    sender_add_reader: mio_channel::SyncSender<ReaderIngredients>,
    sender_remove_reader: mio_channel::SyncSender<GUID>,
    discovery_command: mio_channel::SyncSender<DiscoveryCommand>,
    security_plugins_handle: Option<SecurityPluginsHandle>,
  ) -> Self {
    Self {
      domain_participant,
      discovery_db,
      qos,
      sender_add_reader,
      sender_remove_reader,
      discovery_command,
      security_plugins_handle,
    }
  }

  fn create_datareader_internal<D, SA>(
    &self,
    outer: &Subscriber,
    entity_id_opt: Option<EntityId>,
    topic: &Topic,
    optional_qos: Option<QosPolicies>,
    reader_like_stateless: bool, // Create a stateless-like RTPS reader? Usually false
  ) -> CreateResult<WithKeyDataReader<D, SA>>
  where
    D: 'static + Keyed,
    SA: adapters::with_key::DeserializerAdapter<D>,
  {
    let simple_dr = self.create_simple_datareader_internal(
      outer,
      entity_id_opt,
      topic,
      optional_qos,
      reader_like_stateless,
    )?;
    Ok(with_key::DataReader::<D, SA>::from_simple_data_reader(
      simple_dr,
    ))
  }

  fn create_simple_datareader_internal<D, SA>(
    &self,
    outer: &Subscriber,
    entity_id_opt: Option<EntityId>,
    topic: &Topic,
    optional_qos: Option<QosPolicies>,
    reader_like_stateless: bool, // Create a stateless-like RTPS reader? Usually false
  ) -> CreateResult<with_key::SimpleDataReader<D, SA>>
  where
    D: 'static + Keyed,
    SA: adapters::with_key::DeserializerAdapter<D>,
  {
    // incoming data notification channel from Reader to DataReader
    let (send, rec) = mio_channel::sync_channel::<()>(4);
    // status change channel from Reader to DataReader
    let (status_sender, status_receiver) = sync_status_channel::<DataReaderStatus>(4)?;

    // reader command channel from Datareader to Reader
    let (reader_command_sender, reader_command_receiver) =
      mio_channel::sync_channel::<ReaderCommand>(0);
    // The buffer length is zero, i.e. sender and receiver must rendezvous at
    // send/receive. This is needed to synchronize sending of wakers from
    // DataReader to Reader. If the capacity is increased, then some data
    // available for reading notifications may be missed.

    // Use subscriber QoS as basis, modify by Topic settings, and modify by
    // specified QoS.
    let qos = self
      .qos
      .modify_by(&topic.qos())
      .modify_by(&optional_qos.unwrap_or_else(QosPolicies::qos_none));

    let entity_id =
      self.unwrap_or_new_entity_id(entity_id_opt, EntityKind::READER_WITH_KEY_USER_DEFINED);

    let dp = match self.participant() {
      Some(dp) => dp,
      None => return create_error_dropped!("DomainParticipant doesn't exist anymore."),
    };

    // Get a handle to the topic cache
    let topic_cache_handle = match dp.dds_cache().read() {
      Ok(dds_cache) => dds_cache.get_existing_topic_cache(&topic.name())?,
      Err(e) => return create_error_poisoned!("Cannot lock DDScache. Error: {}", e),
    };
    // Update topic cache with DataReader's Qos
    match topic_cache_handle.lock() {
      Ok(mut tc) => tc.update_keep_limits(&qos),
      Err(e) => return create_error_poisoned!("Cannot lock topic cache. Error: {}", e),
    };

    let reader_guid = GUID::new_with_prefix_and_id(dp.guid_prefix(), entity_id);

    #[cfg(feature = "security")]
    if let Some(sec_handle) = self.security_plugins_handle.as_ref() {
      // Security is enabled.
      // Check are we allowed to create the DataReader from Access control
      let check_res = sec_handle.get_plugins().check_create_datareader(
        reader_guid.prefix,
        dp.domain_id(),
        topic.name(),
        &qos,
      );
      match check_res {
        Ok(check_passed) => {
          if !check_passed {
            return create_error_not_allowed_by_security!(
              "Not allowed to create a DataReader to topic {}",
              topic.name()
            );
          }
        }
        Err(e) => {
          // Something went wrong in the check
          return create_error_internal!(
            "Failed to check DataReader rights from Access control: {}",
            e.msg
          );
        }
      };

      // Register Reader to crypto plugin
      if let Err(e) = {
        let reader_security_attributes = sec_handle
          .get_plugins()
          .get_reader_sec_attributes(reader_guid, topic.name()); // Release lock
        reader_security_attributes.and_then(|attributes| {
          sec_handle
            .get_plugins()
            .register_local_reader(reader_guid, qos.property(), attributes)
        })
      } {
        return create_error_internal!(
          "Failed to register reader to crypto plugin: {} . GUID: {:?}",
          e,
          reader_guid
        );
      } else {
        info!("Registered local reader to crypto plugin. GUID: {reader_guid:?}");
      }
    }

    // Construct the ReaderIngredients
    let data_reader_waker = Arc::new(Mutex::new(None));

    let (poll_event_source, poll_event_sender) = mio_source::make_poll_channel()?;

    let new_reader = ReaderIngredients {
      guid: reader_guid,
      notification_sender: send,
      status_sender,
      topic_name: topic.name(),
      topic_cache_handle: topic_cache_handle.clone(),
      like_stateless: reader_like_stateless,
      qos_policy: qos.clone(),
      data_reader_command_receiver: reader_command_receiver,
      data_reader_waker: data_reader_waker.clone(),
      poll_event_sender,
      security_plugins: self.security_plugins_handle.clone(),
    };

    // Construct security info if needed
    #[cfg(not(feature = "security"))]
    let security_info: Option<EndpointSecurityInfo> = None;
    #[cfg(feature = "security")]
    let security_info = if let Some(sec_handle) = self.security_plugins_handle.as_ref() {
      // Security enabled
      if reader_guid.entity_id.entity_kind.is_user_defined() {
        match sec_handle
          .get_plugins()
          .get_reader_sec_attributes(reader_guid, topic.name())
        {
          Ok(attr) => EndpointSecurityInfo::from(attr).into(),
          Err(e) => {
            return create_error_internal!(
              "Failed to get security info for reader: {}. Guid: {:?}",
              e,
              reader_guid
            );
          }
        }
      } else {
        None // For the built-in topics
      }
    } else {
      // No security enabled
      None
    };

    // Add the topic & reader to Discovery DB
    {
      let mut db = self
        .discovery_db
        .write()
        .or_else(|e| create_error_poisoned!("Cannot lock discovery_db. {}", e))?;
      db.update_local_topic_reader(&dp, topic, &new_reader, security_info);
      db.update_topic_data_p(topic);

      // Inform Discovery about the topic
      if let Err(e) = self.discovery_command.try_send(DiscoveryCommand::AddTopic {
        topic_name: topic.name(),
      }) {
        // Log the error but don't quit, failing to inform Discovery about the topic
        // shouldn't be that serious
        error!(
          "Failed send DiscoveryCommand::AddTopic about topic {}: {}",
          topic.name(),
          e
        );
      }
    }

    // Note: notifying Discovery about the new reader is no longer done here.
    // Instead, it's done by the DP event loop once it has actually created the new
    // reader. This is done to avoid data races.

    // Construct the data reader
    let datareader = with_key::SimpleDataReader::<D, SA>::new(
      outer.clone(),
      entity_id,
      topic.clone(),
      qos,
      rec,
      topic_cache_handle,
      self.discovery_command.clone(),
      status_receiver,
      reader_command_sender,
      data_reader_waker,
      poll_event_source,
    )?;

    // Send reader ingredients to DP event loop, where the actual reader will be
    // constructed
    self
      .sender_add_reader
      .try_send(new_reader)
      .or_else(|e| create_error_poisoned!("Cannot add DataReader. Error: {}", e))?;

    // Return the DataReader to user
    Ok(datareader)
  }

  pub fn create_datareader<D, SA>(
    &self,
    outer: &Subscriber,
    topic: &Topic,
    entity_id: Option<EntityId>,
    qos: Option<QosPolicies>,
    reader_like_stateless: bool, // Create a stateless-like RTPS reader? Usually false
  ) -> CreateResult<WithKeyDataReader<D, SA>>
  where
    D: 'static + Keyed,
    SA: adapters::with_key::DeserializerAdapter<D>,
  {
    if topic.kind() != TopicKind::WithKey {
      return Err(CreateError::TopicKind(TopicKind::WithKey));
    }
    self.create_datareader_internal(outer, entity_id, topic, qos, reader_like_stateless)
  }

  pub fn create_datareader_no_key<D: 'static, SA>(
    &self,
    outer: &Subscriber,
    topic: &Topic,
    entity_id_opt: Option<EntityId>,
    qos: Option<QosPolicies>,
    reader_like_stateless: bool, // Create a stateless-like RTPS reader? Usually false
  ) -> CreateResult<NoKeyDataReader<D, SA>>
  where
    SA: adapters::no_key::DeserializerAdapter<D>,
  {
    if topic.kind() != TopicKind::NoKey {
      return Err(CreateError::TopicKind(TopicKind::NoKey));
    }

    let entity_id =
      self.unwrap_or_new_entity_id(entity_id_opt, EntityKind::READER_NO_KEY_USER_DEFINED);

    let d = self.create_datareader_internal::<NoKeyWrapper<D>, DAWrapper<SA>>(
      outer,
      Some(entity_id),
      topic,
      qos,
      reader_like_stateless,
    )?;

    Ok(NoKeyDataReader::<D, SA>::from_keyed(d))
  }

  pub fn create_simple_datareader_no_key<D: 'static, SA>(
    &self,
    outer: &Subscriber,
    topic: &Topic,
    entity_id_opt: Option<EntityId>,
    qos: Option<QosPolicies>,
  ) -> CreateResult<no_key::SimpleDataReader<D, SA>>
  where
    SA: adapters::no_key::DeserializerAdapter<D> + 'static,
  {
    if topic.kind() != TopicKind::NoKey {
      return Err(CreateError::TopicKind(TopicKind::NoKey));
    }

    let entity_id =
      self.unwrap_or_new_entity_id(entity_id_opt, EntityKind::READER_NO_KEY_USER_DEFINED);

    let d = self.create_simple_datareader_internal::<NoKeyWrapper<D>, DAWrapper<SA>>(
      outer,
      Some(entity_id),
      topic,
      qos,
      false,
    )?;

    Ok(no_key::SimpleDataReader::<D, SA>::from_keyed(d))
  }

  pub fn participant(&self) -> Option<DomainParticipant> {
    self.domain_participant.clone().upgrade()
  }

  pub(crate) fn remove_reader(&self, guid: GUID) {
    try_send_timeout(&self.sender_remove_reader, guid, None)
      .unwrap_or_else(|e| error!("Cannot remove Reader {guid:?} : {e:?}"));
  }

  fn unwrap_or_new_entity_id(
    &self,
    entity_id_opt: Option<EntityId>,
    entity_kind: EntityKind,
  ) -> EntityId {
    // If the entity_id is given, then just use that. If not, then pull an arbitrary
    // number out of participant's hat.
    entity_id_opt.unwrap_or_else(|| self.participant().unwrap().new_entity_id(entity_kind))
  }
}

// -------------------------------------------------------------------

#[cfg(test)]
mod tests {}