[15482] UDPv6 support for fast-discovery-server tool and ROS_DISCOVERY_SERVER

cmake/common/gtest.cmake

@@ -24,7 +24,7 @@ macro(add_gtest)
         set(test "${ARGV0}")
         set(command "${test}")
     endif()
-    set(multiValueArgs SOURCES ENVIRONMENTS DEPENDENCIES LABELS)
+    set(multiValueArgs SOURCES ENVIRONMENTS DEPENDENCIES LABELS IGNORE)
     cmake_parse_arguments(GTEST "" "${uniValueArgs}" "${multiValueArgs}" ${ARGN})
 
     if(GTEST_NAME)
@@ -66,6 +66,15 @@ macro(add_gtest)
                     COMMAND ${command}
                     --gtest_filter=${GTEST_GROUP_NAME}.${GTEST_TEST_NAME}:*/${GTEST_GROUP_NAME}.${GTEST_TEST_NAME}/*:${GTEST_GROUP_NAME}/*.${GTEST_TEST_NAME})
 
+                # decide if disable
+                unset(GTEST_USER_DISABLED)
+                foreach(GTEST_USER_FILTER ${GTEST_IGNORE})
+                    string(REGEX MATCH ${GTEST_USER_FILTER} GTEST_USER_DISABLED ${GTEST_GROUP_NAME}.${GTEST_TEST_NAME})
+                    if(GTEST_USER_DISABLED)
+                        break()
+                    endif()
+                endforeach()
+
                 # Add environment
                 set(GTEST_ENVIRONMENT "")
                 if(WIN32)
@@ -82,13 +91,21 @@ macro(add_gtest)
                 endif()
                 unset(GTEST_ENVIRONMENT)
 
-                # Add labels
-                set_property(TEST ${GTEST_GROUP_NAME}.${GTEST_TEST_NAME} PROPERTY LABELS "${GTEST_LABELS}")
+                # Add labels and enable
+                set_tests_properties(${GTEST_GROUP_NAME}.${GTEST_TEST_NAME} PROPERTIES
+                    LABELS "${GTEST_LABELS}"
+                    DISABLED $<BOOL:${GTEST_USER_DISABLED}>)
 
             endforeach()
         endforeach()
     else()
-        add_test(NAME ${test} COMMAND ${command})
+
+        # add filtering statement if required
+        if(GTEST_IGNORE)
+            set(gtest_filter "--gtest_filter=${GTEST_IGNORE}")
+        endif()
+
+        add_test(NAME ${test} COMMAND ${command} ${gtest_filter})
 
         # Add environment
         set(GTEST_ENVIRONMENT "")
@@ -128,6 +145,8 @@ macro(add_gtest)
 
         # Add labels
         set_property(TEST ${test} PROPERTY LABELS "${GTEST_LABELS}")
+
+        unset(gtest_filter)
     endif()
 endmacro()
 

include/fastdds/rtps/attributes/ServerAttributes.h

@@ -102,6 +102,15 @@ class RemoteServerAttributes
 
     // Live participant proxy reference
     const fastrtps::rtps::ParticipantProxyData* proxy{};
+
+    // Check if there are specific transport locators associated
+    // the template parameter is the locator kind (e.g. LOCATOR_KIND_UDPv4)
+    template<int kind> bool requires_transport() const
+    {
+        return metatrafficUnicastLocatorList.has_kind<kind>() ||
+               metatrafficMulticastLocatorList.has_kind<kind>();
+    }
+
 };
 
 typedef std::list<RemoteServerAttributes> RemoteServerList_t;

include/fastdds/rtps/common/LocatorList.hpp

@@ -96,6 +96,8 @@ class LocatorList
 {
 public:
 
+    using value_type = typename std::vector<Locator>::value_type;
+
     /// Constructor
     RTPS_DllAPI LocatorList()
     {
@@ -378,6 +380,21 @@ class LocatorList
         this->m_locators.swap(locatorList.m_locators);
     }
 
+    // Check if there are specific transport locators associated
+    // the template parameter is the locator kind (e.g. LOCATOR_KIND_UDPv4)
+    template<int kind> bool has_kind() const
+    {
+        for (auto& loc : m_locators)
+        {
+            if ( kind == loc.kind )
+            {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
 private:
 
     std::vector<Locator> m_locators;

src/cpp/rtps/RTPSDomain.cpp

@@ -499,19 +499,33 @@ RTPSParticipant* RTPSDomain::clientServerEnvironmentCreationOverride(
         return nullptr;
     }
 
-    // we only make the attributes copy when we are sure is worth
+    // We only make the attributes copy when we are sure is worth
+    // Is up to the caller guarantee the att argument is not modified during the call
     RTPSParticipantAttributes client_att(att);
 
     // Retrieve the info from the environment variable
-    // TODO(jlbueno) This should be protected with the PDP mutex.
-    if (load_environment_server_info(client_att.builtin.discovery_config.m_DiscoveryServers) &&
-            client_att.builtin.discovery_config.m_DiscoveryServers.empty())
+    RemoteServerList_t& server_list = client_att.builtin.discovery_config.m_DiscoveryServers;
+    if (load_environment_server_info(server_list) && server_list.empty())
     {
         // it's not an error, the environment variable may not be set. Any issue with environment
         // variable syntax is logError already
         return nullptr;
     }
 
+    // check if some server requires the UDPv6 transport
+    for (auto& server : server_list)
+    {
+        if (server.requires_transport<LOCATOR_KIND_UDPv6>())
+        {
+            // extend builtin transports with the UDPv6 transport
+            auto descriptor = std::make_shared<fastdds::rtps::UDPv6TransportDescriptor>();
+            descriptor->sendBufferSize = client_att.sendSocketBufferSize;
+            descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
+            client_att.userTransports.push_back(std::move(descriptor));
+            break;
+        }
+    }
+
     logInfo(DOMAIN, "Detected auto client-server environment variable."
             << "Trying to create client with the default server setup: "
             << client_att.builtin.discovery_config.m_DiscoveryServers);