Add Discovery Server setting in the UI

plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.cpp

@@ -242,6 +242,13 @@ void FastDdsDataStreamer::on_domain_connection(
     connect_to_domain_(domain_id);
 }
 
+void FastDdsDataStreamer::on_server_connection(
+        unsigned int domain_id, const std::string& server_ip, unsigned int server_port)
+{
+    DEBUG("FastDdsDataStreamer on_domain_connection " << domain_id);
+    connect_to_server_(domain_id, server_ip, server_port);
+}
+
 ////////////////////////////////////////////////////
 // AUXILIAR METHODS
 ////////////////////////////////////////////////////
@@ -260,6 +267,19 @@ void FastDdsDataStreamer::connect_to_domain_(
     select_topics_dialog_.connect_to_domain(domain_id);
 }
 
+void FastDdsDataStreamer::connect_to_server_(
+        unsigned int domain_id, const std::string& server_ip, unsigned int server_port)
+{
+    DEBUG("FastDdsDataStreamer connect_to_server_ " << server_ip<<":"<<server_port<<" using domain "<<domain_id);
+    // Reset view and handler
+    select_topics_dialog_.reset();
+    fastdds_handler_.reset();
+
+    // Connect to domain
+    fastdds_handler_.connect_to_server(domain_id, server_ip, server_port);
+    select_topics_dialog_.connect_to_server(domain_id, server_ip, server_port);
+}
+
 void FastDdsDataStreamer::create_series_()
 {
     // Get all series from topics and create them

plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.hpp

@@ -116,6 +116,8 @@ class FastDdsDataStreamer :
     virtual void on_domain_connection(
             unsigned int domain_id) override;
 
+    virtual void on_server_connection(
+        unsigned int domain_id, const std::string& server_ip, unsigned int server_port);
 
     ////////////////////////////////////////////////////
     // STATIC METHODS AND PUBLIC MEMBERS
@@ -132,6 +134,9 @@ class FastDdsDataStreamer :
     void connect_to_domain_(
             unsigned int domain_id);
 
+   void connect_to_server_(
+        unsigned int domain_id, const std::string& server_ip, unsigned int server_port);
+
     void create_series_();
 
     ////////////////////////////////////////////////////

plugins/datastreamer_plugin/fastdds/Handler.cpp

@@ -62,6 +62,16 @@ void Handler::connect_to_domain(
     participant_ = std::make_unique<Participant>(domain, discovery_database_, listener_);
 }
 
+void Handler::connect_to_server(
+        const uint32_t domain, const std::string& server_ip, unsigned int server_port)
+{
+    // Reset in case a Handler exist
+    reset();
+
+    // Create participant using discovery server
+    participant_ = std::make_unique<Participant>(domain, discovery_database_, listener_, true, server_ip, server_port);
+}
+
 void Handler::register_type_from_xml(
         const std::string& xml_path)
 {

plugins/datastreamer_plugin/fastdds/Handler.hpp

@@ -67,6 +67,9 @@ class Handler
     void connect_to_domain(
             const uint32_t domain);
 
+    void connect_to_server(
+        const uint32_t domain, const std::string& server_ip, unsigned int server_port);
+
     void register_type_from_xml(
             const std::string& xml_path);
 

plugins/datastreamer_plugin/fastdds/Participant.cpp

@@ -65,16 +65,33 @@ void ReaderHandlerDeleter::operator ()(
 Participant::Participant(
         DomainId_t domain_id,
         std::shared_ptr<TopicDataBase> discovery_database,
-        FastDdsListener* listener)
+        FastDdsListener* listener,
+        bool use_discovery_server,
+        const std::string& server_ip,
+        const unsigned int& server_port)
     : listener_(listener)
     , discovery_database_(discovery_database)
 {
     // TODO check entities are created correctly
 
+    DomainParticipantQos participant_qos = default_participant_qos_();
+    // Connect participat to server if discovery server is used
+    if(use_discovery_server){
+		// Define server locator
+		eprosima::fastdds::rtps::Locator_t server_locator;
+		eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, server_ip);
+		server_locator.port = server_port;
+		server_locator.kind = LOCATOR_KIND_UDPv4;
+        // Set participant as SUPER CLIENT
+        participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = eprosima::fastdds::rtps::DiscoveryProtocol::SUPER_CLIENT;
+        // Connect to remote server
+        participant_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
+    }
+
     // Create Domain Participant
     participant_ = DomainParticipantFactory::get_instance()->create_participant(
         domain_id,
-        default_participant_qos_(),
+        participant_qos,
         this,
         default_listener_mask_());
 

plugins/datastreamer_plugin/fastdds/Participant.hpp

@@ -86,7 +86,10 @@ class Participant : public eprosima::fastdds::dds::DomainParticipantListener
     Participant(
             eprosima::fastdds::dds::DomainId_t domain_id,
             std::shared_ptr<TopicDataBase> discovery_database,
-            FastDdsListener* listener);
+            FastDdsListener* listener,
+            bool use_discovery_server = false,
+            const std::string& server_ip = "127.0.0.1",
+            const unsigned int& server_port = 11811);
 
     virtual ~Participant();
 

plugins/datastreamer_plugin/ui/topic_selection_dialog/Configuration.cpp

@@ -87,6 +87,8 @@ void Configuration::save_default_settings(
     settings.setValue(prefix + DISCARD_LARGE_ARRAYS_SETTINGS_TAG, data_type_configuration.discard_large_arrays);
     settings.setValue(prefix + XML_DATATYPE_FILES_SETTINGS_TAG, xml_datatypes_files);
     settings.setValue(prefix + DOMAIN_ID_SETTINGS_TAG, domain_id);
+    settings.setValue(prefix + SERVER_IP_SETTINGS_TAG, server_ip.c_str());
+    settings.setValue(prefix + SERVER_PORT_SETTINGS_TAG, server_port);
 }
 
 void Configuration::load_default_settings(
@@ -103,6 +105,8 @@ void Configuration::load_default_settings(
                     data_type_configuration.discard_large_arrays).toBool();
     xml_datatypes_files = settings.value(prefix + XML_DATATYPE_FILES_SETTINGS_TAG, xml_datatypes_files).toStringList();
     domain_id = settings.value(prefix + DOMAIN_ID_SETTINGS_TAG, domain_id).toInt();
+    server_ip = settings.value(prefix + SERVER_IP_SETTINGS_TAG, server_ip.c_str()).toString().toStdString();
+    server_port = settings.value(prefix + SERVER_PORT_SETTINGS_TAG, server_port).toUInt();
 }
 
 } /* namespace ui */

plugins/datastreamer_plugin/ui/topic_selection_dialog/Configuration.hpp

@@ -61,6 +61,9 @@ struct Configuration
     // DDS Configuration
     unsigned int domain_id = 0;
     QStringList xml_datatypes_files;  // Empty in initialization
+    // Discovery server configuration
+    std::string server_ip = "127.0.0.1";
+    unsigned int server_port = 11811;
 
     ////////////////////
     // Advance options
@@ -87,6 +90,8 @@ struct Configuration
     constexpr static const char* DISCARD_LARGE_ARRAYS_SETTINGS_TAG = "discard_large_arrays";
     constexpr static const char* XML_DATATYPE_FILES_SETTINGS_TAG = "xml_datatype_files";
     constexpr static const char* DOMAIN_ID_SETTINGS_TAG = "domain_id_files";
+    constexpr static const char* SERVER_IP_SETTINGS_TAG = "server_ip_files";
+    constexpr static const char* SERVER_PORT_SETTINGS_TAG = "server_port_files";
 };
 
 

plugins/datastreamer_plugin/ui/topic_selection_dialog/UiListener.hpp

@@ -51,6 +51,13 @@ struct UiListener
         static_cast<void>(domain_id);
     }
 
+    virtual void on_server_connection(
+        unsigned int domain_id, const std::string& server_ip, unsigned int server_port){
+        DEBUG("Calling on_server_connection " << domain_id << " " << server_ip << " " << server_port);
+        static_cast<void>(domain_id);
+        static_cast<void>(server_ip);
+        static_cast<void>(server_port);
+    }
 };
 
 } /* namespace ui */

plugins/datastreamer_plugin/ui/topic_selection_dialog/dialogselecttopics.cpp

@@ -45,6 +45,8 @@ DialogSelectTopics::DialogSelectTopics(
     , configuration_(configuration)
     , listener_(listener)
     , domain_id_connected_(configuration.domain_id) // This is initialized here as it does not come from configuration
+    , server_ip_(configuration.server_ip)
+    , server_port_(configuration.server_port)
     , select_all_topics_(QKeySequence(Qt::CTRL + Qt::Key_A), this)
     , deselect_all_topics_(QKeySequence(Qt::CTRL + Qt::SHIFT + Qt::Key_A), this)
 {
@@ -71,6 +73,12 @@ DialogSelectTopics::DialogSelectTopics(
         this,
         &DialogSelectTopics::on_connectionToDomain);
 
+    connect(
+        this,
+        &DialogSelectTopics::connection_to_server_signal,
+        this,
+        &DialogSelectTopics::on_connectionToServer);
+
     /////
     // Set shortcuts
 
@@ -137,6 +145,14 @@ void DialogSelectTopics::connect_to_domain(
     emit connection_to_domain_signal(domain_id);
 }
 
+void DialogSelectTopics::connect_to_server(
+        const uint32_t domain_id,
+        const std::string& server_ip,
+        unsigned int server_port)
+{
+    emit connection_to_server_signal(domain_id, utils::string_to_QString(server_ip), server_port);
+}
+
 void DialogSelectTopics::on_lineEditFilter_textChanged(
         const QString& search_string)
 {
@@ -193,9 +209,16 @@ void DialogSelectTopics::on_change_domain_button_clicked()
         // Nevertheless lets check it
         if (domain_id != domain_id_connected_)
         {
+            // Get server ip and port before the reset called by on_domain_connection
+            QString server_ip = ui->server_ip->text();
+            unsigned int server_port = ui->server_port->text().toUInt();
+
             // Call listener to connect to domain
             listener_->on_domain_connection(
                 static_cast<unsigned int>(domain_id));
+
+            // Set the server ip and port to the value before the reset called by on_domain_connection
+            on_connectionToServer(domain_id, server_ip, server_port);
         }
     }
     // In case the dialog is cancelled, do nothing
@@ -204,6 +227,27 @@ void DialogSelectTopics::on_change_domain_button_clicked()
     delete change_domain_dialog;
 }
 
+void DialogSelectTopics::on_use_discovery_server_button_clicked() {
+    DEBUG("Calling on_use_discovery_server_button_clicked");
+    // Get server ip and port
+    QString server_ip = ui->server_ip->text();
+    unsigned int server_port = ui->server_port->text().toUInt();
+
+    if (ui->use_discovery_server_button->isChecked()) {
+        // Call listener to connect to server
+        listener_->on_server_connection(domain_id_connected_, server_ip.toStdString(), server_port);
+        ui->use_discovery_server_button->setText("ON");
+        ui->change_domain_button->setEnabled(false);
+    } else {
+        // Call listener to connect to domain
+        listener_->on_domain_connection(domain_id_connected_);
+        // Set the server ip and port to the value before the reset called by on_domain_connection
+        on_connectionToServer(domain_id_connected_, server_ip, server_port);
+        ui->use_discovery_server_button->setText("OFF");
+        ui->change_domain_button->setEnabled(true);
+    }
+}
+
 void DialogSelectTopics::on_include_files_button_clicked()
 {
     DEBUG("Calling on_include_files_button_clicked");
@@ -336,6 +380,21 @@ void DialogSelectTopics::on_connectionToDomain(
         QString::number(domain_id_connected_));
 }
 
+void DialogSelectTopics::on_connectionToServer(
+        const uint32_t domain_id,
+        const QString& server_ip,
+        unsigned int server_port)
+{
+    domain_id_connected_ = domain_id;
+    server_ip_ = server_ip.toStdString();
+    server_port_ = server_port;
+
+    ui->current_domain_label->setText(
+        QString::number(domain_id_connected_));
+    ui->server_ip->setText(server_ip_.c_str());
+    ui->server_port->setText(QString::number(server_port_));
+}
+
 void DialogSelectTopics::clean_topics_list_()
 {
     DEBUG("Calling clean_topics_list_");
@@ -352,6 +411,7 @@ void DialogSelectTopics::reset_to_configuration_()
     // FastDDS configuration
     // Set current domain
     on_connectionToDomain(configuration_.domain_id);
+    on_connectionToServer(configuration_.domain_id, utils::string_to_QString(configuration_.server_ip), configuration_.server_port);
 
     // Add XML files
     // First erase every data in the list
@@ -390,6 +450,8 @@ void DialogSelectTopics::update_configuration_()
     // Domain id
     configuration_.domain_id =
             static_cast<unsigned int>(domain_id_connected_);
+    configuration_.server_ip = server_ip_;
+    configuration_.server_port = server_port_;
 
     // Array
     configuration_.data_type_configuration.max_array_size =

plugins/datastreamer_plugin/ui/topic_selection_dialog/dialogselecttopics.h

@@ -64,6 +64,10 @@ class DialogSelectTopics : public QDialog
     void connect_to_domain(
             const uint32_t domain_id);
 
+    void connect_to_server(
+                const uint32_t domain_id,
+                const std::string& server_ip,
+                unsigned int server_port);
 signals:
 
     void reset_view_signal();
@@ -76,6 +80,11 @@ class DialogSelectTopics : public QDialog
     void connection_to_domain_signal(
             const uint32_t domain_id);
 
+   void connection_to_server_signal(
+        const uint32_t domain_id,
+        const QString& server_ip,
+        const uint32_t server_port);
+
 private slots:
 
     void on_lineEditFilter_textChanged(
@@ -86,6 +95,8 @@ private slots:
 
     void on_change_domain_button_clicked();
 
+    void on_use_discovery_server_button_clicked();
+
     void on_include_files_button_clicked();
 
     void on_include_dir_button_clicked();
@@ -106,6 +117,11 @@ private slots:
     void on_connectionToDomain(
             const uint32_t domain_id);
 
+    void on_connectionToServer(
+            const uint32_t domain_id,
+            const QString& server_ip,
+            unsigned int server_port);
+
 protected:
 
     void clean_topics_list_();
@@ -149,6 +165,9 @@ private slots:
     constexpr static const unsigned int TypeNameTableIndex_ = 1;
 
     unsigned int domain_id_connected_;
+    //! Variables storing discovery server information
+    std::string server_ip_;
+    unsigned int server_port_;
 
     QShortcut select_all_topics_;
     QShortcut deselect_all_topics_;