Doxygen, Windows support, and improved readability

Signed-off-by: tempate <[email protected]>

ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp

@@ -58,7 +58,7 @@ class DdsBridge : public Bridge
             const std::shared_ptr<PayloadPool>& payload_pool,
             const std::shared_ptr<utils::SlotThreadPool>& thread_pool,
             const RoutesConfiguration& routes_config,
-            const types::ParticipantId& discoverer_id);
+            const types::ParticipantId& discoverer_participant_id);
 
     DDSPIPE_CORE_DllAPI
     ~DdsBridge();
@@ -82,22 +82,32 @@ class DdsBridge : public Bridge
     void disable() noexcept override;
 
     /**
-     * Build the DRs and DWs inside the bridge for the new participant,
+     * Build the DataReaders and DataWriters inside the bridge for the new participant,
      * and add them to the Tracks.
      *
-     * THREAD SAFE?
+     * Thread safe
+     *
+     * @param discoverer_participant_id: The id of the participant who has discovered that the subscriber has become inactive.
+     *
+     * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
      */
-    utils::ReturnCode add_subscriber(
-            const types::ParticipantId& id) noexcept;
+    DDSPIPE_CORE_DllAPI
+    void add_to_tracks(
+            const types::ParticipantId& discoverer_participant_id);
 
     /**
-     * Remove the DW from all the Tracks in the bridge.
-     * Remove the DRs and Tracks that don't have any DWs.
+     * Remove the DatWriter from all the Tracks in the bridge.
+     * Remove the DataReaders and Tracks that don't have any DataWriters.
      *
-     * THREAD SAFE?
+     * Thread safe
+     *
+     * @param discoverer_participant_id: The id of the participant who has discovered that the subscriber has become inactive.
+     *
+     * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
      */
-    utils::ReturnCode remove_subscriber(
-            const types::ParticipantId& id) noexcept;
+    DDSPIPE_CORE_DllAPI
+    void remove_from_tracks(
+            const types::ParticipantId& discoverer_participant_id) noexcept;
 
 protected:
 

ddspipe_core/include/ddspipe_core/communication/dds/Track.hpp

@@ -100,7 +100,7 @@ class Track
      * Add a writer to the track.
      * It doesn't do anything if the writer is already in it.
      *
-     * THREAD SAFE?
+     * Tread safe
      */
     DDSPIPE_CORE_DllAPI
     void add_writer(
@@ -111,7 +111,7 @@ class Track
      * Remove a writer from the track.
      * It doesn't do anything if the writer isn't in the track.
      *
-     * THREAD SAFE?
+     * Tread safe
      */
     DDSPIPE_CORE_DllAPI
     void remove_writer(
@@ -120,7 +120,7 @@ class Track
     /**
      * Check if a writer is inside the track.
      *
-     * THREAD SAFE?
+     * Tread safe
      */
     DDSPIPE_CORE_DllAPI
     bool has_writer(
@@ -129,7 +129,7 @@ class Track
     /**
      * Count the number of writers inside the track.
      *
-     * THREAD SAFE?
+     * Tread safe
      */
     DDSPIPE_CORE_DllAPI
     int count_writers() noexcept;

ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp

@@ -204,13 +204,14 @@ class DdsPipe
      * If the DdsPipe is enabled, the new Bridge is created and enabled.
      *
      * @note This is the only method that adds topics to \c current_topics_
+     * @note This is the only method that adds topics to \c current_topics_discoverers_
      *
      * @param [in] topic : topic discovered
-     * @param [in] subscriber_id : id of the subscriber who discovered the topic
+     * @param [in] discoverer_participant_id : id of the subscriber who discovered the topic
      */
     void discovered_topic_nts_(
             const utils::Heritable<types::DistributedTopic>& topic,
-            const types::ParticipantId& subscriber_id) noexcept;
+            const types::ParticipantId& discoverer_participant_id) noexcept;
 
     /**
      * @brief Method called every time a new endpoint (corresponding to a server) has been discovered/updated
@@ -344,6 +345,12 @@ class DdsPipe
      * If the value is true, it means this topic is currently activated.
      */
     std::map<utils::Heritable<types::DistributedTopic>, bool> current_topics_;
+
+    /**
+     * @brief List of the ids of the participants who discovered each topic.
+     *
+     * Every topic discovered is added to the map.
+     */
     std::map<utils::Heritable<types::DistributedTopic>, types::ParticipantId> current_topics_discoverers_;
 
     /**

ddspipe_core/include/ddspipe_core/dynamic/DiscoveryDatabase.hpp

@@ -154,6 +154,7 @@ class DiscoveryDatabase
      *
      * @return Map of endpoints
      */
+    DDSPIPE_CORE_DllAPI
     std::map<types::Guid, types::Endpoint> get_endpoints() const noexcept;
 
     /**

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

@@ -29,24 +29,24 @@ DdsBridge::DdsBridge(
         const std::shared_ptr<PayloadPool>& payload_pool,
         const std::shared_ptr<utils::SlotThreadPool>& thread_pool,
         const RoutesConfiguration& routes_config,
-        const ParticipantId& discoverer_id)
+        const ParticipantId& discoverer_participant_id)
     : Bridge(participants_database, payload_pool, thread_pool)
     , topic_(topic)
 {
     logDebug(DDSPIPE_DDSBRIDGE, "Creating DdsBridge " << *this << ".");
 
     routes_ = routes_config();
 
-    if (discoverer_id == "built-in")
+    if (discoverer_participant_id == "builtin-participant")
     {
         for (const ParticipantId& id : participants_->get_participants_ids())
         {
-            add_subscriber(id);
+            add_to_tracks(id);
         }
     }
     else
     {
-        add_subscriber(discoverer_id);
+        add_to_tracks(discoverer_participant_id);
     }
 
     logDebug(DDSPIPE_DDSBRIDGE, "DdsBridge " << *this << " created.");
@@ -98,8 +98,8 @@ void DdsBridge::disable() noexcept
     }
 }
 
-utils::ReturnCode DdsBridge::add_subscriber(
-        const ParticipantId& subscriber_id) noexcept
+void DdsBridge::add_to_tracks(
+        const ParticipantId& discoverer_participant_id)
 {
     // A new subscriber has been discovered.
     // Check if the writer for this participant already exists.
@@ -108,45 +108,45 @@ utils::ReturnCode DdsBridge::add_subscriber(
         const auto& id = id_to_track.first;
         const auto& track = id_to_track.second;
 
-        if (track->has_writer(subscriber_id))
+        if (track->has_writer(discoverer_participant_id))
         {
             // The writer already exists. There is nothing to do. Exit.
-            return utils::ReturnCode::RETCODE_OK;
+            return;
         }
     }
 
     // Create the writer.
-    std::shared_ptr<IParticipant> participant = participants_->get_participant(subscriber_id);
+    std::shared_ptr<IParticipant> participant = participants_->get_participant(discoverer_participant_id);
 
     std::map<ParticipantId, std::shared_ptr<IWriter>> id_to_writer;
-    id_to_writer[subscriber_id] = participant->create_writer(*topic_);
+    id_to_writer[discoverer_participant_id] = participant->create_writer(*topic_);
 
     // Create the necessary readers and tracks.
     for (const ParticipantId& id : participants_->get_participants_ids())
     {
         const auto& it = routes_.find(id);
 
-        if (it != routes_.end() && it->second.find(subscriber_id) == it->second.end())
+        if (it != routes_.end() && it->second.find(discoverer_participant_id) == it->second.end())
         {
-            // The Participant has a route and the subscriber_id is not in it.
+            // The Participant has a route and the discoverer is not in it.
             // There can be no changes to the tracks.
             continue;
         }
 
-        if (id == subscriber_id && !participants_->get_participant(id)->is_repeater())
+        if (id == discoverer_participant_id && !participants_->get_participant(id)->is_repeater())
         {
             // Don't connect a participant's reader and writer if the participant is not a repeater.
             continue;
         }
 
         // Create a copy of the writer
         std::map<ParticipantId, std::shared_ptr<IWriter>> id_to_dst_writer;
-        id_to_dst_writer[subscriber_id] = id_to_writer[subscriber_id];
+        id_to_dst_writer[discoverer_participant_id] = id_to_writer[discoverer_participant_id];
 
         if (tracks_.count(id))
         {
-            // The track already exists. Add the writer.
-            tracks_[id]->add_writer(subscriber_id, id_to_dst_writer[subscriber_id]);
+            // The track already exists. Add the writer to it.
+            tracks_[id]->add_writer(discoverer_participant_id, id_to_dst_writer[discoverer_participant_id]);
         }
         else
         {
@@ -157,40 +157,33 @@ utils::ReturnCode DdsBridge::add_subscriber(
             tracks_[id] = std::make_unique<Track>(
                 topic_,
                 id,
-                std::move(reader), // SHOULD WE USE std::move HERE?
+                std::move(reader),
                 std::move(id_to_dst_writer),
                 payload_pool_,
                 thread_pool_);
         }
 
         tracks_[id]->enable();
     }
-
-    return utils::ReturnCode::RETCODE_OK;
 }
 
-utils::ReturnCode DdsBridge::remove_subscriber(
-        const ParticipantId& subscriber_id) noexcept
+void DdsBridge::remove_from_tracks(
+        const ParticipantId& discoverer_participant_id) noexcept
 {
     for (const auto& id_to_track : tracks_)
     {
         const auto& id = id_to_track.first;
         const auto& track = id_to_track.second;
 
-        if (track->has_writer(subscriber_id))
+        // If the writer is in the track, remove it.
+        track->remove_writer(discoverer_participant_id);
+
+        if (track->count_writers() <= 0)
         {
-            // Remove the writer from the track.
-            track->remove_writer(subscriber_id);
-
-            if (track->count_writers() <= 0)
-            {
-                // The track doesn't have any writers. Remove it.
-                tracks_.erase(id);
-            }
+            // The track doesn't have any writers. Remove it.
+            tracks_.erase(id);
         }
     }
-
-    return utils::ReturnCode::RETCODE_OK;
 }
 
 std::ostream& operator <<(

ddspipe_core/src/cpp/core/DdsPipe.cpp

@@ -319,11 +319,14 @@ void DdsPipe::removed_endpoint_nts_(
 
         if (it_bridge == bridges_.end())
         {
-            // THE BRIDGE HAS TO EXIST. ERROR.
+            // The bridge does not exist. Error.
+            logError(DDSPIPE,
+                "Error finding Bridge for topic " << topic <<
+                ". The Bridge does not exist.");
         }
         else
         {
-            it_bridge->second->remove_subscriber(endpoint.discoverer_participant_id);
+            it_bridge->second->remove_from_tracks(endpoint.discoverer_participant_id);
         }
     }
     else if (endpoint.is_server_endpoint())
@@ -338,32 +341,32 @@ void DdsPipe::init_bridges_nts_(
 {
     for (const auto& topic : builtin_topics)
     {
-        discovered_topic_nts_(topic, "built-in");
+        discovered_topic_nts_(topic, "builtin-participant");
         create_new_bridge_nts_(topic, false);
     }
 }
 
 void DdsPipe::discovered_topic_nts_(
         const utils::Heritable<DistributedTopic>& topic,
-        const ParticipantId& discoverer_id) noexcept
+        const ParticipantId& discoverer_participant_id) noexcept
 {
-    logInfo(DDSPIPE, "Discovered topic: " << topic << ", by: " << discoverer_id << ".");
+    logInfo(DDSPIPE, "Discovered topic: " << topic << ", by: " << discoverer_participant_id << ".");
 
     // Check if the bridge (and the topic) already exist.
     auto it_bridge = bridges_.find(topic);
 
     if (it_bridge != bridges_.end())
     {
-        // The bridge already exists. Add the discoverer_id.
-        it_bridge->second->add_subscriber(discoverer_id);
+        // The bridge already exists. Add the discoverer to the tracks.
+        it_bridge->second->add_to_tracks(discoverer_participant_id);
         return;
     }
 
     // Add topic to current_topics as non activated
     current_topics_.emplace(topic, false);
 
     // Save the id of the participant who discovered the topic
-    current_topics_discoverers_.emplace(topic, discoverer_id);
+    current_topics_discoverers_.emplace(topic, discoverer_participant_id);
 
     // If Pipe is enabled and topic allowed, activate it
     if (enabled_ && allowed_topics_->is_topic_allowed(*topic))
@@ -428,14 +431,14 @@ void DdsPipe::create_new_bridge_nts_(
     {
         auto routes_config__ = topic_routes_config_().count(topic) !=
                 0 ? topic_routes_config_()[topic] : routes_config_;
-        auto discoverer_id = current_topics_discoverers_[topic];
+        auto discoverer_participant_id = current_topics_discoverers_[topic];
 
         auto new_bridge =  std::make_unique<DdsBridge>(topic,
                         participants_database_,
                         payload_pool_,
                         thread_pool_,
                         routes_config__,
-                        discoverer_id);
+                        discoverer_participant_id);
 
         if (enabled)
         {

ddspipe_core/src/cpp/dynamic/DiscoveryDatabase.cpp

@@ -246,6 +246,7 @@ Endpoint DiscoveryDatabase::get_endpoint(
 
 std::map<Guid, Endpoint> DiscoveryDatabase::get_endpoints() const noexcept
 {
+    std::shared_lock<std::shared_timed_mutex> lock(mutex_);
     return entities_;
 }