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// Describe the communication status changes as events.
//
// These implement a mechanism equivalent to what is described in
// Section 2.2.4 Listeners, Conditions, and Wait-sets
//
// Communication statues are detailed in Figure 2.13 and tables in Section
// 2.2.4.1 in DDS Specification v1.4
use std::{
io,
pin::Pin,
sync::{Arc, Mutex},
task::{Context, Poll, Waker},
};
#[allow(unused_imports)]
use log::{debug, error, info, trace, warn};
use futures::stream::{FusedStream, Stream};
use mio_06::Evented;
use mio_extras::channel as mio_channel;
use mio_08::{event, Interest, Registry, Token};
use chrono::Utc;
use crate::{
dds::{qos::QosPolicyId, topic::TopicData},
discovery::SpdpDiscoveredParticipantData,
messages::{protocol_version::ProtocolVersion, vendor_id::VendorId},
mio_source::*,
structure::guid::GuidPrefix,
Duration, QosPolicies, GUID,
};
#[cfg(feature = "security")]
use crate::discovery::secure_discovery::AuthenticationStatus;
/// This trait corresponds to set_listener() of the Entity class in DDS spec.
/// Types implementing this trait can be registered to a poll and
/// polled for status events.
pub trait StatusEvented<'a, E, S>
where
S: Stream<Item = E>,
S: FusedStream,
{
// The lifetime variable 'a marks the lifetime of the async stream object, if
// such is requested. The stream object typically contains a reference to
// self, so it is to ensure correct lifetimes.
fn as_status_evented(&mut self) -> &dyn Evented; // This is for polling with mio-0.6.x
fn as_status_source(&mut self) -> &mut dyn mio_08::event::Source; // This is for polling with mio-0.8.x
fn as_async_status_stream(&'a self) -> S;
fn try_recv_status(&self) -> Option<E>;
}
// -------------------------------------------------------------------------------
// -------------------------------------------------------------------------------
// -------------------------------------------------------------------------------
// a wrapper(s) for mio_channel augmented with
// poll channel, so that it can be used together with mio-0.8
// This is only used so that a mio-0.6 channel can pose as a
// mio-0.8 event::Source.
pub(crate) fn sync_status_channel<T>(
capacity: usize,
) -> io::Result<(StatusChannelSender<T>, StatusChannelReceiver<T>)> {
let (signal_receiver, signal_sender) = make_poll_channel()?;
let (actual_sender, actual_receiver) = mio_channel::sync_channel(capacity);
let waker = Arc::new(Mutex::new(None));
Ok((
StatusChannelSender {
actual_sender,
signal_sender,
waker: Arc::clone(&waker),
},
StatusChannelReceiver {
actual_receiver: Mutex::new(actual_receiver),
signal_receiver,
waker,
},
))
}
// TODO: try to make this (and the Receiver) private types
#[derive(Clone)]
pub struct StatusChannelSender<T> {
actual_sender: mio_channel::SyncSender<T>,
signal_sender: PollEventSender,
waker: Arc<Mutex<Option<Waker>>>,
}
pub struct StatusChannelReceiver<T> {
actual_receiver: Mutex<mio_channel::Receiver<T>>,
signal_receiver: PollEventSource,
waker: Arc<Mutex<Option<Waker>>>,
}
impl<T> StatusChannelSender<T> {
/// Best-effort send. If there is no receiver, this will fail silently.
pub fn try_send(&self, t: T) -> Result<(), mio_channel::TrySendError<T>> {
let mut w = self.waker.lock().unwrap(); // lock already at the beginning
match self.actual_sender.try_send(t) {
Ok(()) => {
self.signal_sender.send();
w.as_ref().map(|w| w.wake_by_ref());
*w = None;
Ok(())
}
Err(mio_channel::TrySendError::Full(_tt)) => {
trace!("StatusChannelSender cannot send new status changes, channel is full.");
// It is perfectly normal to fail due to full channel, because
// no-one is required to be listening to these.
self.signal_sender.send(); // kick the receiver anyway
w.as_ref().map(|w| w.wake_by_ref());
*w = None;
// We convert the Err to Ok, bause we do not consider this to be an error.
// The caller loses the payload object (tt), even though it is not sent.
Ok(())
}
Err(other_fail) => Err(other_fail),
}
}
}
impl<T> StatusChannelReceiver<T> {
pub fn try_recv(&self) -> Result<T, std::sync::mpsc::TryRecvError> {
// We do not manipulate waker here, because the
// synchronous and asynchronous receiving are not supposed to be mixed.
self.signal_receiver.drain();
self.actual_receiver.lock().unwrap().try_recv()
}
pub(crate) fn get_waker_update_lock(&self) -> std::sync::MutexGuard<'_, Option<Waker>> {
self.waker.lock().unwrap()
}
}
impl<'a, E> StatusEvented<'a, E, StatusReceiverStream<'a, E>> for StatusChannelReceiver<E> {
fn as_status_evented(&mut self) -> &dyn Evented {
self
}
fn as_status_source(&mut self) -> &mut dyn mio_08::event::Source {
self
}
fn as_async_status_stream(&'a self) -> StatusReceiverStream<'a, E> {
StatusReceiverStream {
sync_receiver: self,
terminated: AtomicBool::new(false),
}
}
fn try_recv_status(&self) -> Option<E> {
self.try_recv().ok()
}
}
impl<E> Evented for StatusChannelReceiver<E> {
// We just delegate all the operations to notification_receiver, since it
// already implements Evented
fn register(
&self,
poll: &mio_06::Poll,
token: mio_06::Token,
interest: mio_06::Ready,
opts: mio_06::PollOpt,
) -> io::Result<()> {
self
.actual_receiver
.lock()
.unwrap()
.register(poll, token, interest, opts)
}
fn reregister(
&self,
poll: &mio_06::Poll,
token: mio_06::Token,
interest: mio_06::Ready,
opts: mio_06::PollOpt,
) -> io::Result<()> {
self
.actual_receiver
.lock()
.unwrap()
.reregister(poll, token, interest, opts)
}
fn deregister(&self, poll: &mio_06::Poll) -> io::Result<()> {
self.actual_receiver.lock().unwrap().deregister(poll)
}
}
impl<T> event::Source for StatusChannelReceiver<T> {
fn register(&mut self, registry: &Registry, token: Token, interests: Interest) -> io::Result<()> {
self.signal_receiver.register(registry, token, interests)
}
fn reregister(
&mut self,
registry: &Registry,
token: Token,
interests: Interest,
) -> io::Result<()> {
self.signal_receiver.reregister(registry, token, interests)
}
fn deregister(&mut self, registry: &Registry) -> io::Result<()> {
self.signal_receiver.deregister(registry)
}
}
// -------------------------------------------------------------------------------
// -------------------------------------------------------------------------------
// -------------------------------------------------------------------------------
use std::sync::atomic::{AtomicBool, Ordering};
// TODO: try to make private
pub struct StatusReceiverStream<'a, T> {
sync_receiver: &'a StatusChannelReceiver<T>,
terminated: AtomicBool,
}
impl<'a, T> Stream for StatusReceiverStream<'a, T> {
type Item = T;
fn poll_next(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Option<Self::Item>> {
// debug!("poll_next");
let mut w = self.sync_receiver.get_waker_update_lock();
// lock already at the beginning, before try_recv
match self.sync_receiver.try_recv() {
Err(std::sync::mpsc::TryRecvError::Empty) => {
// nothing available
*w = Some(cx.waker().clone());
Poll::Pending
}
Err(std::sync::mpsc::TryRecvError::Disconnected) => {
self.terminated.store(true, Ordering::SeqCst);
warn!("StatusReceiver channel disconnected");
Poll::Ready(None)
}
Ok(t) => Poll::Ready(Some(t)), // got data
}
} // fn
}
impl<'a, T> FusedStream for StatusReceiverStream<'a, T> {
fn is_terminated(&self) -> bool {
self.terminated.load(Ordering::SeqCst)
}
}
// -------------------------------------------------------------------------------
// -------------------------------------------------------------------------------
// -------------------------------------------------------------------------------
#[derive(Debug, Clone)]
#[non_exhaustive]
pub enum DomainParticipantStatusEvent {
ParticipantDiscovered {
dpd: ParticipantDescription,
},
ParticipantLost {
id: GuidPrefix,
reason: LostReason,
},
InconsistentTopic {
previous_topic_data: Box<TopicData>, // What was our ide aof the Topic
previous_source: GUID,
discovered_topic_data: Box<TopicData>, // What incoming Discovery data tells us about Topic
discovery_source: GUID, // Who sent the Discovery data
},
/// Discovery detects a new topic
TopicDetected {
name: String,
type_name: String,
},
/// Topics are lost when there are no more known Readers or Writers in them.
TopicLost {
name: String,
},
/// New Reader detected (or created locally). Detection happens regardless of
/// the remote being matched or not by a local Endpoint.
ReaderDetected {
reader: EndpointDescription,
},
/// New Writer detected
WriterDetected {
writer: EndpointDescription,
},
/// Remote Reader was lost (disconnected)
ReaderLost {
guid: GUID,
reason: LostReason,
},
/// Remote Writer was lost (disconnected)
WriterLost {
guid: GUID,
reason: LostReason,
},
RemoteReaderMatched {
local_writer: GUID,
remote_reader: GUID,
},
RemoteWriterMatched {
local_reader: GUID,
remote_writer: GUID,
},
RemoteReaderQosIncompatible {
local_writer: GUID,
remote_reader: GUID,
requested_qos: Box<QosPolicies>,
offered_qos: Box<QosPolicies>,
},
RemoteWriterQosIncompatible {
local_reader: GUID,
remote_writer: GUID,
requested_qos: Box<QosPolicies>,
offered_qos: Box<QosPolicies>,
},
#[cfg(feature = "security")]
Authentication {
participant: GuidPrefix,
status: AuthenticationStatus,
},
/// The CA has revoked the identity of some Participant.
/// We may be currently communicating with the Participant, or it may be
/// unknown to us.
// TODO:
/// Not implemented, as we do not implement any identity revocation mechanism
/// yet.
#[cfg(feature = "security")]
IdentityRevoked {
participant: GuidPrefix,
},
/// Domain access permissions of some Participant have been revoked / changed.
// TODO:
/// Not implemented, as we do not implement any permissions revocation
/// mechanism yet.
#[cfg(feature = "security")]
PermissionsRevoked {
participant: GuidPrefix,
// TODO: How to get more details on what was revoked, or was something added?
},
}
/// Why some remote entity is considered to be no longer with us.
#[derive(Debug, Clone)]
pub enum LostReason {
/// Participant announced via Discovery that it is leaving
Disposed,
/// Lease time exceeded => timeout
Timeout {
lease: Duration, // What was the discovered lease duration
elapsed: Duration, // How much time has actually elapsed from last contact
},
}
/// This is a rewrite/summary of SpdpDiscoveredParticipantData from discovery.
/// The original is not used to avoid circular dependency between participant
/// and discovery. Some of the more technical details have been left out
#[derive(Debug, Clone)]
pub struct ParticipantDescription {
pub updated_time: chrono::DateTime<Utc>,
pub protocol_version: ProtocolVersion,
pub vendor_id: VendorId,
pub guid: GUID,
pub lease_duration: Option<Duration>,
pub entity_name: Option<String>,
#[cfg(feature = "security")]
pub supports_security: bool,
}
impl From<&SpdpDiscoveredParticipantData> for ParticipantDescription {
fn from(dpd: &SpdpDiscoveredParticipantData) -> Self {
ParticipantDescription {
updated_time: dpd.updated_time,
protocol_version: dpd.protocol_version,
vendor_id: dpd.vendor_id,
guid: dpd.participant_guid,
lease_duration: dpd.lease_duration,
entity_name: dpd.entity_name.clone(),
#[cfg(feature = "security")]
supports_security: dpd.supports_security(),
}
}
}
/// This is a summary of SubscriptionBuiltinTopicData /
/// PublicationBuiltinTopicData from discovery. The original is not used to
/// avoid circular dependency between participant and discovery.
#[derive(Debug, Clone)]
pub struct EndpointDescription {
pub updated_time: chrono::DateTime<Utc>,
pub guid: GUID,
pub topic_name: String,
pub type_name: String,
pub qos: QosPolicies,
}
#[derive(Debug, Clone)]
pub enum DataReaderStatus {
/// Sample was rejected, because resource limits would have been exceeded.
SampleRejected {
count: CountWithChange,
last_reason: SampleRejectedStatusKind,
// last_instance_key:
},
/// Remote Writer has become active or inactive.
LivelinessChanged {
alive_total: CountWithChange,
not_alive_total: CountWithChange,
// last_publication_key:
},
/// Deadline requested by this DataReader was missed.
RequestedDeadlineMissed {
count: CountWithChange,
// last_instance_key:
},
/// This DataReader has requested a QoS policy that is incompatible with what
/// is offered.
RequestedIncompatibleQos {
count: CountWithChange,
last_policy_id: QosPolicyId,
writer: GUID,
requested_qos: Box<QosPolicies>,
offered_qos: Box<QosPolicies>,
//policies: Vec<QosPolicyCount>, // Not implemented
},
// DataAvailable variant is not implemented, as it seems to bring little additional value,
// because the normal data waiting mechanism already uses the same mio::poll structure.
/// A sample has been lost (never received).
/// TODO: Implement this.
/// * Check that the following interpretation is correct:
/// * For a BEST_EFFORT reader: Whenever we skip ahead in SequenceNumber,
/// possibly because a message is lost, or messages arrive out of order.
/// * For a RELIABLE reader: Whenever we skip ahead in SequenceNumbers that
/// are delivered via DataReader. The reason may be that we receive a
/// HEARTBEAT or GAP submessage indicating that some samples we are
/// expecting are not available.
SampleLost { count: CountWithChange },
/// The DataReader has found a DataWriter that matches the Topic and has
/// compatible QoS, or has ceased to be matched with a DataWriter that was
/// previously considered to be matched.
SubscriptionMatched {
total: CountWithChange,
current: CountWithChange,
writer: GUID,
// last_publication_key:
},
}
#[derive(Debug, Clone)]
pub enum DataWriterStatus {
LivelinessLost {
count: CountWithChange,
},
OfferedDeadlineMissed {
count: CountWithChange,
// last_instance_key:
},
OfferedIncompatibleQos {
count: CountWithChange,
last_policy_id: QosPolicyId,
reader: GUID,
requested_qos: Box<QosPolicies>,
offered_qos: Box<QosPolicies>,
//policies: Vec<QosPolicyCount>, // Not implemented
},
PublicationMatched {
total: CountWithChange,
current: CountWithChange,
reader: GUID,
// last_subscription_key:
},
}
/// Helper to contain same count actions across statuses
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub struct CountWithChange {
// 2.3. Platform Specific Model defines these as "long", which appears to be 32-bit signed.
count: i32,
count_change: i32,
}
impl CountWithChange {
pub(crate) fn new(count: i32, count_change: i32) -> Self {
Self {
count,
count_change,
}
}
// ??
// same as "new" ?
pub fn start_from(count: i32, count_change: i32) -> Self {
Self {
count,
count_change,
}
}
pub fn count(&self) -> i32 {
self.count
}
pub fn count_change(&self) -> i32 {
self.count_change
}
// does this make sense?
// pub fn increase(&mut self) {
// self.count += 1;
// self.count_change += 1;
// }
}
// sample rejection reasons
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum SampleRejectedStatusKind {
NotRejected,
ByInstancesLimit,
BySamplesLimit,
BySamplesPerInstanceLimit,
}
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub struct QosPolicyCount {
policy_id: QosPolicyId,
count: i32,
}