For publisher, the default builtin transports have be disabled, even didn't create new transport, but it can also publish data through Shared Memory

[yuzu-ogura]

Is there an already existing issue for this?

• [X] I have searched the existing issues

Expected behavior

publisher could not publish data, because it has no transport

Current behavior

publisher can also publish data through Shared Memory, because I found files in the /dev/shm

Steps to reproduce

edit base the example of HelloWorldExampleSharedMem: publish.cpp:

bool HelloWorldPublisher::init()
{
    m_Hello = std::make_shared<HelloWorld>();
    m_Hello->index(0);
    m_Hello->message("HelloWorld");
    ParticipantAttributes PParam;
    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;

    PParam.rtps.setName("Participant_pub");

    // SharedMem transport configuration
    PParam.rtps.useBuiltinTransports = false;

    auto shm_transport = std::make_shared<SharedMemTransportDescriptor>();
    shm_transport->segment_size(2 * 1024 * 1024);
    //PParam.rtps.userTransports.push_back(shm_transport);

    // UDP
    auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
    //udp_transport->interfaceWhiteList.push_back("127.0.0.1");
    //PParam.rtps.userTransports.push_back(udp_transport);

    mp_participant = Domain::createParticipant(PParam);

    if (mp_participant == nullptr)
    {
        return false;
    }
    //REGISTER THE TYPE

    Domain::registerType(mp_participant, &m_type);

    //CREATE THE PUBLISHER
    PublisherAttributes Wparam;
    Wparam.topic.topicKind = NO_KEY;
    Wparam.topic.topicDataType = "HelloWorld";
    Wparam.topic.topicName = "HelloWorldSharedMemTopic";
    Wparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
    Wparam.topic.historyQos.depth = 30;
    Wparam.topic.resourceLimitsQos.max_samples = 50;
    Wparam.topic.resourceLimitsQos.allocated_samples = 20;
    Wparam.times.heartbeatPeriod.seconds = 2;
    Wparam.times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
    Wparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
    Wparam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
    mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*)&m_listener);
    if (mp_publisher == nullptr)
    {
        return false;
    }

    return true;
}

subscribe.cpp:

bool HelloWorldSubscriber::init()
{
    ParticipantAttributes PParam;
    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
    PParam.rtps.setName("Participant_sub");

    // SharedMem transport configuration
    PParam.rtps.useBuiltinTransports = false;

    auto sm_transport = std::make_shared<SharedMemTransportDescriptor>();
    sm_transport->segment_size(2 * 1024 * 1024);
    //PParam.rtps.userTransports.push_back(sm_transport);

    // UDP
    auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
    //udp_transport->interfaceWhiteList.push_back("127.0.0.1");
    PParam.rtps.userTransports.push_back(udp_transport);

    mp_participant = Domain::createParticipant(PParam);
    if (mp_participant == nullptr)
    {
        return false;
    }

    //REGISTER THE TYPE

    Domain::registerType(mp_participant, &m_type);
    //CREATE THE SUBSCRIBER
    SubscriberAttributes Rparam;
    Rparam.topic.topicKind = NO_KEY;
    Rparam.topic.topicDataType = "HelloWorld";
    Rparam.topic.topicName = "HelloWorldSharedMemTopic";
    Rparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
    Rparam.topic.historyQos.depth = 30;
    Rparam.topic.resourceLimitsQos.max_samples = 50;
    Rparam.topic.resourceLimitsQos.allocated_samples = 20;
    Rparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
    Rparam.qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;

    mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*)&m_listener);

    if (mp_subscriber == nullptr)
    {
        return false;
    }

    return true;
}

Fast DDS version/commit

v2.6.8

Platform/Architecture

Ubuntu Focal 20.04 amd64

Transport layer

Shared Memory Transport (SHM)

Additional context

No response

XML configuration file

No response

Relevant log output

No response

Network traffic capture

No response

[Mario-DL]

Hi @yuzu-ogura,

That example seems to be using the deprecated API. Could you please check if the behavior pesists using the same example but in the DDS subfolder ?

[yuzu-ogura]

Thanks for your reply. As what you say, I got the expected behavior.