eProsima · juanlofer-eprosima · Nov 22, 2023 · Oct 13, 2023 · Oct 16, 2023 · Oct 16, 2023
diff --git a/ddsrecorder/src/cpp/tool/DdsRecorder.cpp b/ddsrecorder/src/cpp/tool/DdsRecorder.cpp
@@ -15,6 +15,8 @@
 #include <cpp_utils/exception/InitializationException.hpp>
 #include <cpp_utils/utils.hpp>
 
+#include <ddspipe_core/types/dynamic_types/types.hpp>
+
 #include "DdsRecorder.hpp"
 
 namespace eprosima {
@@ -32,28 +34,26 @@ DdsRecorder::DdsRecorder(
         const yaml::RecorderConfiguration& configuration,
         const DdsRecorderStateCode& init_state,
         const std::string& file_name)
+    : configuration_(configuration)
 {
     // Create Discovery Database
-    discovery_database_ =
-            std::make_shared<DiscoveryDatabase>();
+    discovery_database_ = std::make_shared<DiscoveryDatabase>();
 
     // Create Payload Pool
-    payload_pool_ =
-            std::make_shared<FastPayloadPool>();
+    payload_pool_ = std::make_shared<FastPayloadPool>();
 
     // Create Thread Pool
-    thread_pool_ =
-            std::make_shared<SlotThreadPool>(configuration.n_threads);
+    thread_pool_ = std::make_shared<SlotThreadPool>(configuration_.n_threads);
 
     // Fill MCAP output file settings
     participants::McapOutputSettings mcap_output_settings;
     if (file_name == "")
     {
-        mcap_output_settings.output_filename = configuration.output_filename;
-        mcap_output_settings.output_filepath = configuration.output_filepath;
+        mcap_output_settings.output_filename = configuration_.output_filename;
+        mcap_output_settings.output_filepath = configuration_.output_filepath;
         mcap_output_settings.prepend_timestamp = true;
-        mcap_output_settings.output_timestamp_format = configuration.output_timestamp_format;
-        mcap_output_settings.output_local_timestamp = configuration.output_local_timestamp;
+        mcap_output_settings.output_timestamp_format = configuration_.output_timestamp_format;
+        mcap_output_settings.output_local_timestamp = configuration_.output_local_timestamp;
     }
     else
     {
@@ -65,14 +65,14 @@ DdsRecorder::DdsRecorder(
     // Create MCAP Handler configuration
     participants::McapHandlerConfiguration handler_config(
         mcap_output_settings,
-        configuration.max_pending_samples,
-        configuration.buffer_size,
-        configuration.event_window,
-        configuration.cleanup_period,
-        configuration.log_publish_time,
-        configuration.only_with_type,
-        configuration.mcap_writer_options,
-        configuration.record_types);
+        configuration_.max_pending_samples,
+        configuration_.buffer_size,
+        configuration_.event_window,
+        configuration_.cleanup_period,
+        configuration_.log_publish_time,
+        configuration_.only_with_type,
+        configuration_.mcap_writer_options,
+        configuration_.record_types);
 
     // Create MCAP Handler
     mcap_handler_ = std::make_shared<participants::McapHandler>(
@@ -82,21 +82,34 @@ DdsRecorder::DdsRecorder(
 
     // Create DynTypes Participant
     dyn_participant_ = std::make_shared<DynTypesParticipant>(
-        configuration.simple_configuration,
+        configuration_.simple_configuration,
         payload_pool_,
         discovery_database_);
     dyn_participant_->init();
 
     // Create Recorder Participant
     recorder_participant_ = std::make_shared<SchemaParticipant>(
-        configuration.recorder_configuration,
+        configuration_.recorder_configuration,
         payload_pool_,
         discovery_database_,
         mcap_handler_);
 
-    // Create and populate Participant Database
-    participants_database_ =
-            std::make_shared<ParticipantsDatabase>();
+    // Create an internal topic to transmit the dynamic types
+    configuration_.ddspipe_configuration.builtin_topics.insert(
+        utils::Heritable<DistributedTopic>::make_heritable(type_object_topic()));
+
+    if (!configuration_.ddspipe_configuration.allowlist.empty())
+    {
+        // The allowlist is not empty. Add the internal topic.
+        WildcardDdsFilterTopic internal_topic;
+        internal_topic.topic_name.set_value(TYPE_OBJECT_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(internal_topic));
+    }
+
+    // Create Participant Database
+    participants_database_ = std::make_shared<ParticipantsDatabase>();
 
     // Populate Participant Database
     participants_database_->add_participant(
@@ -110,7 +123,7 @@ DdsRecorder::DdsRecorder(
 
     // Create DDS Pipe
     pipe_ = std::make_unique<DdsPipe>(
-        configuration.ddspipe_configuration,
+        configuration_.ddspipe_configuration,
         discovery_database_,
         payload_pool_,
         participants_database_,

diff --git a/ddsrecorder/src/cpp/tool/DdsRecorder.hpp b/ddsrecorder/src/cpp/tool/DdsRecorder.hpp
@@ -100,6 +100,9 @@ class DdsRecorder
     static participants::McapHandlerStateCode recorder_to_handler_state_(
             const DdsRecorderStateCode& recorder_state);
 
+    //! Configuration of the DDS Recorder
+    yaml::RecorderConfiguration configuration_;
+
     //! Payload Pool
     std::shared_ptr<ddspipe::core::PayloadPool> payload_pool_;
 

diff --git a/ddsrecorder_participants/src/cpp/replayer/ReplayerParticipant.cpp b/ddsrecorder_participants/src/cpp/replayer/ReplayerParticipant.cpp
@@ -33,10 +33,6 @@ ReplayerParticipant::ReplayerParticipant(
         payload_pool,
         discovery_database)
 {
-    // Delete endpoint discovery/removal callbacks inserted in DDS-Pipe core.
-    // This is to avoid the creation of useless bridges and tracks created when discovering endpoints in topics other
-    // than the ones present in MCAP.
-    discovery_database_->clear_all_callbacks();
 }
 
 std::shared_ptr<IReader> ReplayerParticipant::create_reader(

diff --git a/ddsrecorder_yaml/src/cpp/recorder/YamlReaderConfiguration.cpp b/ddsrecorder_yaml/src/cpp/recorder/YamlReaderConfiguration.cpp
@@ -131,6 +131,9 @@ void RecorderConfiguration::load_ddsrecorder_configuration_(
         // The DDS Pipe should be enabled on start up.
         ddspipe_configuration.init_enabled = true;
 
+        // The recorder's DdsPipe trigger is the discovery of a writer
+        ddspipe_configuration.discovery_trigger = DiscoveryTrigger::WRITER;
+
         // Initialize controller domain with the same as the one being recorded
         // WARNING: dds tag must have been parsed beforehand
         controller_domain = simple_configuration->domain;
@@ -358,12 +361,6 @@ void RecorderConfiguration::load_dds_configuration_(
     {
         ddspipe_configuration.allowlist = YamlReader::get_set<utils::Heritable<IFilterTopic>>(yml, ALLOWLIST_TAG,
                         version);
-
-        // Add to allowlist always the type object topic
-        WildcardDdsFilterTopic internal_topic;
-        internal_topic.topic_name.set_value(TYPE_OBJECT_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(internal_topic));
     }
 
     /////

diff --git a/ddsrecorder_yaml/src/cpp/replayer/YamlReaderConfiguration.cpp b/ddsrecorder_yaml/src/cpp/replayer/YamlReaderConfiguration.cpp
@@ -134,6 +134,9 @@ void ReplayerConfiguration::load_ddsreplayer_configuration_(
 
         // The DDS Pipe should be enabled on start up.
         ddspipe_configuration.init_enabled = true;
+
+        // The replayer's DdsPipe doesn't get triggered by the discovery of entities
+        ddspipe_configuration.discovery_trigger = DiscoveryTrigger::NONE;
     }
     catch (const std::exception& e)
     {

diff --git a/ddsreplayer/src/cpp/tool/DdsReplayer.cpp b/ddsreplayer/src/cpp/tool/DdsReplayer.cpp
@@ -33,6 +33,8 @@
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastrtps/attributes/ParticipantAttributes.h>
 
+#include <ddspipe_core/types/dynamic_types/types.hpp>
+
 #include <ddsrecorder_participants/common/types/DynamicTypesCollection.hpp>
 #include <ddsrecorder_participants/common/types/DynamicTypesCollectionPubSubTypes.hpp>
 #include <ddsrecorder_participants/constants.hpp>
@@ -57,16 +59,13 @@ DdsReplayer::DdsReplayer(
     , dyn_publisher_(nullptr)
 {
     // Create Discovery Database
-    discovery_database_ =
-            std::make_shared<DiscoveryDatabase>();
+    discovery_database_ = std::make_shared<DiscoveryDatabase>();
 
     // Create Payload Pool
-    payload_pool_ =
-            std::make_shared<FastPayloadPool>();
+    payload_pool_ = std::make_shared<FastPayloadPool>();
 
     // Create Thread Pool
-    thread_pool_ =
-            std::make_shared<SlotThreadPool>(configuration.n_threads);
+    thread_pool_ = std::make_shared<SlotThreadPool>(configuration.n_threads);
 
     // Create MCAP Reader Participant
     mcap_reader_participant_ = std::make_shared<McapReaderParticipant>(
@@ -135,7 +134,7 @@ DdsReplayer::DdsReplayer(
         }
     }
 
-    // Generate builtin-topics list by combining information from YAML and MCAP files
+    // Generate builtin-topics from the topics in the MCAP file
     configuration.ddspipe_configuration.builtin_topics = generate_builtin_topics_(configuration, input_file);
 
     // Create DDS Pipe

diff --git a/docs/rst/notes/forthcoming_version.rst b/docs/rst/notes/forthcoming_version.rst
@@ -32,5 +32,5 @@ Next release will include the following **DDS Recorder tool configuration featur
 Next release will include the following **DDS Replayer tool configuration features**:
 
 * New configuration option (``topics``) to configure the :ref:`Manual Topics <replayer_manual_topics>`.
-* New configuration option (``max-tx-rate``) to configure the :ref:`Max transmission rate <replayer_usage_configuration_max_tx_rate>`.
+* New configuration option (``max-tx-rate``) to configure the :ref:`Max transmission rate <replayer_max_tx_rate>`.
 * Remove the support for `Built-in Topics <https://dds-recorder.readthedocs.io/en/v0.2.0/rst/replaying/usage/configuration.html#built-in-topics>`_.
diff --git a/docs/rst/recording/usage/configuration.rst b/docs/rst/recording/usage/configuration.rst
@@ -33,6 +33,17 @@ DDS Configuration
 
 Configuration related to DDS communication.
 
+.. _recorder_usage_configuration_domain_id:
+
+DDS Domain
+^^^^^^^^^^
+
+Tag ``domain`` configures the :term:`Domain Id`.
+
+.. code-block:: yaml
+
+    domain: 101
+
 .. _recorder_builtin_topics:
 
 Built-in Topics
@@ -55,7 +66,7 @@ The ``builtin-topics`` must specify a ``name`` and ``type`` without wildcard cha
 .. _recorder_topic_filtering:
 
 Topic Filtering
----------------
+^^^^^^^^^^^^^^^
 
 The |ddsrecorder| automatically detects the topics that are being used in a DDS Network.
 The |ddsrecorder| then creates internal DDS :term:`Readers<DataReader>` to record the data published on each topic.
@@ -213,18 +224,6 @@ If a ``qos`` is not manually configured, it will get its value by discovery.
 
     The :ref:`Topic QoS <recorder_topic_qos>` configured in the Manual Topics take precedence over the :ref:`Specs Topic QoS <recorder_specs_topic_qos>`.
 
-.. _recorder_usage_configuration_domain_id:
-
-DDS Domain
-^^^^^^^^^^
-
-Tag ``domain`` configures the :term:`Domain Id`.
-
-.. code-block:: yaml
-
-    domain: 101
-
-
 .. _recorder_ignore_participant_flags:
 
 Ignore Participant Flags
@@ -286,11 +285,6 @@ Example:
 
 See `Interface Whitelist <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/whitelist.html>`_ for more information.
 
-.. warning::
-
-    When providing an interface whitelist, external participants with which communication is desired must also be configured with interface whitelisting.
-
-
 Recorder Configuration
 ----------------------
 

diff --git a/docs/rst/replaying/usage/configuration.rst b/docs/rst/replaying/usage/configuration.rst
@@ -32,10 +32,21 @@ DDS Configuration
 
 Configuration related to DDS communication.
 
+.. _replayer_usage_configuration_domain_id:
+
+DDS Domain
+^^^^^^^^^^
+
+Tag ``domain`` configures the :term:`Domain Id`.
+
+.. code-block:: yaml
+
+    domain: 101
+
 .. _replayer_topic_filtering:
 
 Topic Filtering
----------------
+^^^^^^^^^^^^^^^
 
 The |ddsreplayer| automatically detects the topics that are being used in a DDS Network.
 The |ddsreplayer| then creates internal DDS :term:`Writers<DataWriter>` to replay the data published on each topic.
@@ -154,10 +165,6 @@ The ``max-tx-rate`` tag limits the frequency [Hz] at which samples are sent by d
 It only accepts non-negative numbers.
 By default it is set to ``0``; it sends samples at an unlimited transmission rate.
 
-.. note::
-
-    The ``max-tx-rate`` tag can be set (in order of precedence) for topics, for participants, and globally in specs.
-
 .. _replayer_manual_topics:
 
 Manual Topics
@@ -182,17 +189,6 @@ If a ``qos`` is not manually configured, it will get its value by discovery.
 
     The :ref:`Topic QoS <replayer_topic_qos>` configured in the Manual Topics take precedence over the :ref:`Specs Topic QoS <replayer_specs_topic_qos>`.
 
-.. _replayer_usage_configuration_domain_id:
-
-DDS Domain
-^^^^^^^^^^
-
-Tag ``domain`` configures the :term:`Domain Id`.
-
-.. code-block:: yaml
-
-    domain: 101
-
 
 .. _replayer_ignore_participant_flags:
 
@@ -255,11 +251,6 @@ Example:
 
 See `Interface Whitelist <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/whitelist.html>`_ for more information.
 
-.. warning::
-
-    When providing an interface whitelist, external participants with which communication is desired must also be configured with interface whitelisting.
-
-
 Replay Configuration
 --------------------
 
@@ -355,20 +346,6 @@ By default, data is replayed at the same rate it was published/received.
 However, a user might be interested in playing messages back at a rate different than the original one.
 This can be accomplished through the playback ``rate`` tag, which accepts positive float values (e.g. 0.5 <--> half speed || 2 <--> double speed).
 
-.. _replayer_usage_configuration_max_tx_rate:
-
-Max Transmission Rate
----------------------
-
-The ``max-tx-rate`` tag limits the frequency [Hz] at which samples are sent by discarding messages transmitted before :code:`1/max-tx-rate` seconds have passed since the last sent message.
-It only accepts non-negative numbers.
-By default it is set to ``0``; it sends samples at an unlimited transmission rate.
-
-.. note::
-
-    The ``max-tx-rate`` tag can be set for topics and globally under the ``replayer`` tag.
-    If both are set, the configuration under topics prevails.
-
 .. _replayer_replay_configuration_replaytypes:
 
 Replay Types