Refs #21170: Create OpenOutputChannels for initial_peers

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

src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp

@@ -384,7 +384,12 @@ bool PDPSimple::create_dcps_participant_endpoints()
 
     WriterAttributes watt = create_builtin_writer_attributes();
     watt.endpoint.reliabilityKind = BEST_EFFORT;
-    watt.endpoint.remoteLocatorList = m_discovery.initialPeersList;
+    if (!m_discovery.initialPeersList.empty())
+    {
+        auto entry = LocatorSelectorEntry::create_fully_selected_entry(
+                    m_discovery.initialPeersList, LocatorList_t());
+        mp_RTPSParticipant->createSenderResources(entry);
+    }
 
     // We assume that if we have at least one flow controller defined, we use async flow controller
     if (!pattr.flow_controllers.empty())

src/cpp/rtps/transport/UDPTransportInterface.cpp

@@ -431,6 +431,19 @@ bool UDPTransportInterface::OpenOutputChannel(
     return true;
 }
 
+bool UDPTransportInterface::OpenOutputChannels(
+        SendResourceList& send_resource_list,
+        const LocatorSelectorEntry& locator_selector_entry)
+{
+    bool success = false;
+    for (size_t i = 0; i < locator_selector_entry.state.unicast.size(); ++i)
+    {
+        size_t index = locator_selector_entry.state.unicast[i];
+        success |= OpenOutputChannel(send_resource_list, locator_selector_entry.unicast[index]);
+    }
+    return success;
+}
+
 Locator UDPTransportInterface::RemoteToMainLocal(
         const Locator& remote) const
 {

src/cpp/rtps/transport/UDPTransportInterface.h

@@ -80,6 +80,18 @@ class UDPTransportInterface : public TransportInterface
             SendResourceList& sender_resource_list,
             const Locator&) override;
 
+    /**
+     * Opens a socket on the locators provided by the given locator_selector_entry.
+     *
+     * @param sender_resource_list Participant's send resource list.
+     * @param locator_selector_entry Locator selector entry with the remote entity locators.
+     *
+     * @return true if the socket was correctly opened or if finding an already opened one.
+     */
+    bool OpenOutputChannels(
+            SendResourceList& sender_resource_list,
+            const fastrtps::rtps::LocatorSelectorEntry& locator_selector_entry) override;
+
     /**
      * Converts a given remote locator (that is, a locator referring to a remote
      * destination) to the main local locator whose channel can write to that

src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp

@@ -388,6 +388,19 @@ bool SharedMemTransport::OpenOutputChannel(
     return true;
 }
 
+bool SharedMemTransport::OpenOutputChannels(
+        SendResourceList& send_resource_list,
+        const LocatorSelectorEntry& locator_selector_entry)
+{
+    bool success = false;
+    for (size_t i = 0; i < locator_selector_entry.state.unicast.size(); ++i)
+    {
+        size_t index = locator_selector_entry.state.unicast[i];
+        success |= OpenOutputChannel(send_resource_list, locator_selector_entry.unicast[index]);
+    }
+    return success;
+}
+
 Locator SharedMemTransport::RemoteToMainLocal(
         const Locator& remote) const
 {

src/cpp/rtps/transport/shared_mem/SharedMemTransport.h

@@ -87,6 +87,18 @@ class SharedMemTransport : public TransportInterface
             SendResourceList& sender_resource_list,
             const Locator&) override;
 
+    /**
+     * Opens a socket on the locators provided by the given locator_selector_entry.
+     *
+     * @param sender_resource_list Participant's send resource list.
+     * @param locator_selector_entry Locator selector entry with the remote entity locators.
+     *
+     * @return true if the socket was correctly opened or if finding an already opened one.
+     */
+    bool OpenOutputChannels(
+            SendResourceList& sender_resource_list,
+            const fastrtps::rtps::LocatorSelectorEntry& locator_selector_entry) override;
+
     /**
      * Converts a given remote locator (that is, a locator referring to a remote
      * destination) to the main local locator whose channel can write to that