@foxglove/rtps - npm Package Compare versions

Comparing version 1.2.1 to 1.2.2

dist/common/enums.d.ts

@@ -86,3 +86,4 @@ export declare enum EncapsulationKind {
     UDPv4 = 1,
-    UDPv6 = 2
+    UDPv6 = 2,
+    Unknown = 16
 }
@@ -89,0 +90,0 @@ export declare enum VendorId {

dist/common/enums.js

@@ -101,2 +101,3 @@ "use strict";
     LocatorKind[LocatorKind["UDPv6"] = 2] = "UDPv6";
+    LocatorKind[LocatorKind["Unknown"] = 16] = "Unknown";
 })(LocatorKind = exports.LocatorKind || (exports.LocatorKind = {}));
@@ -103,0 +104,0 @@ var VendorId;

dist/discovery/simple.js

@@ -26,6 +26,9 @@ "use strict";
     const [guidPrefix, entityId] = common_1.guidParts(participantGuid);
-    const metatrafficUnicastLocatorList = metatrafficUnicastLocator != undefined ? [metatrafficUnicastLocator] : [];
-    const metatrafficMulticastLocatorList = metatrafficMulticastLocator != undefined ? [metatrafficMulticastLocator] : [];
-    const defaultUnicastLocatorList = defaultUnicastLocator != undefined ? [defaultUnicastLocator] : [];
-    const defaultMulticastLocatorList = defaultMulticastLocator != undefined ? [defaultMulticastLocator] : [];
+    const metatrafficUnicastLocatorList = filterLocators(metatrafficUnicastLocator);
+    const metatrafficMulticastLocatorList = filterLocators(metatrafficMulticastLocator);
+    const defaultUnicastLocatorList = filterLocators(defaultUnicastLocator);
+    const defaultMulticastLocatorList = filterLocators(defaultMulticastLocator);
+    if (defaultUnicastLocatorList.length === 0) {
+        return undefined;
+    }
     return {
@@ -84,2 +87,7 @@ timestamp,
 exports.parseEndpoint = parseEndpoint;
+function filterLocators(locators) {
+    const udp4 = locators.filter((locator) => locator.kind === common_1.LocatorKind.UDPv4);
+    const udp6 = locators.filter((locator) => locator.kind === common_1.LocatorKind.UDPv6);
+    return udp4.concat(udp6);
+}
 //# sourceMappingURL=simple.js.map

dist/messaging/MessageView.test.js

@@ -93,12 +93,16 @@ "use strict";
         expect(allParams.get(common_1.ParameterId.PID_DOMAIN_ID)).toEqual(0);
-        expect(allParams.get(common_1.ParameterId.PID_DEFAULT_UNICAST_LOCATOR)).toEqual({
-            kind: common_1.LocatorKind.UDPv4,
-            port: 58584,
-            address: "10.0.0.46",
-        });
-        expect(allParams.get(common_1.ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR)).toEqual({
-            kind: common_1.LocatorKind.UDPv4,
-            port: 58584,
-            address: "10.0.0.46",
-        });
+        expect(allParams.get(common_1.ParameterId.PID_DEFAULT_UNICAST_LOCATOR)).toEqual([
+            {
+                kind: common_1.LocatorKind.UDPv4,
+                port: 58584,
+                address: "10.0.0.46",
+            },
+        ]);
+        expect(allParams.get(common_1.ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR)).toEqual([
+            {
+                kind: common_1.LocatorKind.UDPv4,
+                port: 58584,
+                address: "10.0.0.46",
+            },
+        ]);
         expect(allParams.get(common_1.ParameterId.PID_ADLINK_PARTICIPANT_VERSION_INFO)).toEqual("Johns-MacBook-Pro.local/0.8.0/Darwin/Darwin"); // prettier-ignore
@@ -105,0 +109,0 @@ expect(allParams.get(common_1.ParameterId.PID_SAMPLE_SIGNATURE)).toEqual(new Uint8Array([0, 0, 0x10, 0])); // prettier-ignore

dist/messaging/ParametersView.d.ts

@@ -23,6 +23,6 @@ import { CdrReader } from "@foxglove/cdr";
     domainId(): number | undefined;
-    defaultUnicastLocator(): Locator | undefined;
-    defaultMulticastLocator(): Locator | undefined;
-    metatrafficUnicastLocator(): Locator | undefined;
-    metatrafficMulticastLocator(): Locator | undefined;
+    defaultUnicastLocator(): Locator[];
+    defaultMulticastLocator(): Locator[];
+    metatrafficUnicastLocator(): Locator[];
+    metatrafficMulticastLocator(): Locator[];
     expectsInlineQoS(): boolean;
@@ -29,0 +29,0 @@ static FromCdr(serializedData: Uint8Array): ParametersView | undefined;

dist/messaging/ParametersView.js

@@ -17,3 +17,13 @@ "use strict";
             const value = getParameterValue(parameterId, parameterLength, reader);
-            this.map.set(parameterId, value);
+            if (isMultiParameter(parameterId)) {
+                let array = this.map.get(parameterId);
+                if (array == undefined) {
+                    array = [];
+                    this.map.set(parameterId, array);
+                }
+                array.push(value);
+            }
+            else {
+                this.map.set(parameterId, value);
+            }
         }
@@ -74,12 +84,12 @@ }
     defaultUnicastLocator() {
-        return this.map.get(common_1.ParameterId.PID_DEFAULT_UNICAST_LOCATOR);
+        return this.map.get(common_1.ParameterId.PID_DEFAULT_UNICAST_LOCATOR) ?? [];
     }
     defaultMulticastLocator() {
-        return this.map.get(common_1.ParameterId.PID_DEFAULT_MULTICAST_LOCATOR);
+        return this.map.get(common_1.ParameterId.PID_DEFAULT_MULTICAST_LOCATOR) ?? [];
     }
     metatrafficUnicastLocator() {
-        return this.map.get(common_1.ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR);
+        return (this.map.get(common_1.ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR) ?? []);
     }
     metatrafficMulticastLocator() {
-        return this.map.get(common_1.ParameterId.PID_METATRAFFIC_MULTICAST_LOCATOR);
+        return (this.map.get(common_1.ParameterId.PID_METATRAFFIC_MULTICAST_LOCATOR) ?? []);
     }
@@ -208,2 +218,8 @@ expectsInlineQoS() {
 }
+function isMultiParameter(parameterId) {
+    return (parameterId === common_1.ParameterId.PID_DEFAULT_UNICAST_LOCATOR ||
+        parameterId === common_1.ParameterId.PID_DEFAULT_MULTICAST_LOCATOR ||
+        parameterId === common_1.ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR ||
+        parameterId === common_1.ParameterId.PID_METATRAFFIC_MULTICAST_LOCATOR);
+}
 //# sourceMappingURL=ParametersView.js.map

dist/Participant.d.ts

@@ -51,3 +51,4 @@ import { EventEmitter } from "eventemitter3";
     sendAlive(manual?: boolean): Promise<void>;
-    sendChanges(writer: Writer): Promise<void>;
+    sendDefaultChanges(writer: Writer): Promise<void>;
+    sendMetatrafficChanges(writer: Writer): Promise<void>;
     sendChangesTo(reader: ReaderView, writer: Writer, locators: Locator[]): Promise<void>;
@@ -64,2 +65,4 @@ subscribe(opts: SubscribeOpts): EntityId;
     private getReaders;
+    private readerName;
+    private writerName;
     private handleError;
@@ -66,0 +69,0 @@ private handleUdpMessage;

dist/Participant.js

@@ -87,3 +87,3 @@ "use strict";
         this.handleHeartbeat = (guidPrefix, heartbeat) => {
-            this._log?.debug?.(`  [SUBMSG] HEARTBEAT reader=${common_1.uint32ToHex(heartbeat.readerEntityId)} writer=${common_1.uint32ToHex(heartbeat.writerEntityId)} ${heartbeat.firstAvailableSeqNumber},${heartbeat.lastSeqNumber} (count=${heartbeat.count}, liveliness=${heartbeat.liveliness}, final=${heartbeat.final})`);
+            this._log?.debug?.(`  [SUBMSG] HEARTBEAT reader=${this.readerName(heartbeat.readerEntityId)} writer=${this.writerName(heartbeat.writerEntityId)} seq=${heartbeat.firstAvailableSeqNumber},${heartbeat.lastSeqNumber} (count=${heartbeat.count}, liveliness=${heartbeat.liveliness}, final=${heartbeat.final})`);
             const srcSocket = this._unicastSocket;
@@ -121,3 +121,3 @@ if (srcSocket == undefined) {
             const gapEnd = gapList.base - 1n;
-            this._log?.debug?.(`  [SUBMSG] GAP reader=${common_1.uint32ToHex(readerEntityId)} writer=${common_1.uint32ToHex(writerEntityId)} gapStart=${gapStart}, gapEnd=${gapEnd}, list=${gapList.toString()}`);
+            this._log?.debug?.(`  [SUBMSG] GAP reader=${this.readerName(readerEntityId)} writer=${this.writerName(writerEntityId)} gapStart=${gapStart}, gapEnd=${gapEnd}, list=${gapList.toString()}`);
             const srcSocket = this._unicastSocket;
@@ -145,3 +145,3 @@ if (srcSocket == undefined) {
         this.handleAckNack = (guidPrefix, ackNack) => {
-            this._log?.debug?.(`  [SUBMSG] ACKNACK reader=${common_1.uint32ToHex(ackNack.readerEntityId)} writer=${common_1.uint32ToHex(ackNack.writerEntityId)} ${ackNack.readerSNState.toString()}`);
+            this._log?.debug?.(`  [SUBMSG] ACKNACK reader=${this.readerName(ackNack.readerEntityId)} writer=${this.writerName(ackNack.writerEntityId)} ${ackNack.readerSNState.toString()}`);
             const srcSocket = this._unicastSocket;
@@ -167,3 +167,3 @@ if (srcSocket == undefined) {
             }
-            void this.sendChangesTo(readerView, writer, participant.attributes.defaultUnicastLocatorList);
+            void this.sendChangesTo(readerView, writer, participant.attributes.metatrafficUnicastLocatorList);
         };
@@ -179,3 +179,3 @@ this.handleDataMsg = (guidPrefix, dataMsg) => {
             const readers = this.getReaders(readerEntityId, writerGuid);
-            this._log?.debug?.(`  [SUBMSG] DATA reader=${common_1.uint32ToHex(readerEntityId)} writer=${common_1.uint32ToHex(writerEntityId)} ${data.length} bytes (seq ${sequenceNumber}) from ${writerGuid}, ${readers.length} reader(s)`);
+            this._log?.debug?.(`  [SUBMSG] DATA reader=${this.readerName(readerEntityId)} writer=${this.writerName(writerEntityId)} ${data.length} bytes (seq ${sequenceNumber}) from ${writerGuid}, ${readers.length} reader(s)`);
             let instanceHandle;
@@ -282,3 +282,3 @@ switch (writerEntityId) {
                     for (const reader of readers) {
-                        void this.sendChangesTo(reader, writer, participant.attributes.defaultUnicastLocatorList);
+                        void this.sendChangesTo(reader, writer, participant.attributes.metatrafficUnicastLocatorList);
                     }
@@ -459,5 +459,6 @@ }
         // Create the unicast UDP socket for sending and receiving directly to participants
-        this._unicastSocket = await transport_1.createUdpSocket(address, this._udpSocketCreate, this.handleUdpMessage, this.handleError);
-        const locator = await transport_1.locatorForSocket(this._unicastSocket);
-        if (locator != undefined) {
+        this._unicastSocket = await transport_1.createUdpSocket(undefined, this._udpSocketCreate, this.handleUdpMessage, this.handleError);
+        const listenAddr = await this._unicastSocket.localAddress();
+        if (listenAddr != undefined) {
+            const locator = transport_1.locatorFromUdpAddress({ address, family: "IPv4", port: listenAddr.port });
             this._log?.debug?.(`listening on UDP ${locator.address}:${locator.port}`);
@@ -520,5 +521,5 @@ this.attributes.defaultUnicastLocatorList = [locator];
         });
-        await this.sendChanges(writer);
+        await this.sendMetatrafficChanges(writer);
     }
-    async sendChanges(writer) {
+    async sendDefaultChanges(writer) {
         const promises = [];
@@ -533,2 +534,12 @@ for (const participant of this._participants.values()) {
     }
+    async sendMetatrafficChanges(writer) {
+        const promises = [];
+        for (const participant of this._participants.values()) {
+            const readers = participant.remoteReadersForWriterId(writer.attributes.entityId);
+            for (const reader of readers) {
+                promises.push(this.sendChangesTo(reader, writer, participant.attributes.metatrafficUnicastLocatorList));
+            }
+        }
+        await Promise.all(promises);
+    }
     async sendChangesTo(reader, writer, locators) {
@@ -585,4 +596,4 @@ const srcSocket = this._unicastSocket;
         msg.writeSubmessage(new submessages_1.Heartbeat(readerEntityId, writerEntityId, firstSeq, lastSeq, ++reader.count, submessages_1.HeartbeatFlags.Final));
+        this._log?.debug?.(`sending ${changes.length} change(s) (${msg.size} bytes), reader=${this.readerName(readerEntityId)}, writer=${this.writerName(writerEntityId)}`);
         // Send this message as a UDP packet
-        this._log?.debug?.(`sending ${changes.length} change(s) (${msg.size} bytes), reader=${common_1.uint32ToHex(readerEntityId)}, writer=${common_1.uint32ToHex(writerEntityId)}`);
         await transport_1.sendMessageToUdp(msg, srcSocket, locators);
@@ -627,3 +638,3 @@ }
         });
-        void this.sendChanges(writer);
+        void this.sendMetatrafficChanges(writer);
         return readerEntityId;
@@ -669,3 +680,3 @@ }
         });
-        void this.sendChanges(writer);
+        void this.sendMetatrafficChanges(writer);
         return true;
@@ -703,3 +714,3 @@ }
         });
-        await this.sendChanges(writer);
+        await this.sendMetatrafficChanges(writer);
     }
@@ -742,3 +753,3 @@ async broadcastParticipant(attributes) {
         this._log?.debug?.(`unadvertising participant ${guidPrefix}`);
-        await this.sendChanges(writer);
+        await this.sendMetatrafficChanges(writer);
     }
@@ -763,2 +774,7 @@ topicWriters() {
         const sequenceNumSet = reader.history.heartbeatUpdate(firstAvailableSeqNumber, lastSeqNumber);
+        // If there are no sequence numbers to acknowledge, do not send an ACKNACK.
+        // Doing so will enter an infinite loop with FastRTPS
+        if (sequenceNumSet.base === 0n) {
+            return;
+        }
         // If the final flag is set and we have no missing sequence numbers, do not send an ACKNACK
@@ -824,2 +840,13 @@ if (final && sequenceNumSet.empty()) {
     }
+    readerName(readerEntityId) {
+        const name = this._subscriptions.get(readerEntityId)?.topicName ??
+            common_1.EntityIdBuiltin[readerEntityId] ??
+            common_1.EntityKind[readerEntityId & 0xff] ??
+            "(unknown)";
+        return `${name} [${common_1.uint32ToHex(readerEntityId)}]`;
+    }
+    writerName(writerEntityId) {
+        const name = common_1.EntityIdBuiltin[writerEntityId] ?? common_1.EntityKind[writerEntityId & 0xff] ?? "(unknown)";
+        return `${name} [${common_1.uint32ToHex(writerEntityId)}]`;
+    }
     async sendInitialHeartbeats(participant) {
@@ -826,0 +853,0 @@ const srcSocket = this._unicastSocket;

dist/routing/matching.js

@@ -13,3 +13,3 @@ "use strict";
     const readerGuid = common_1.makeGuid(localAttributes.guidPrefix, readerEntityId);
-    log?.info?.(`Creating reader ${readerGuid} -> ${writerView.guid()} for ${subscription.topicName}`);
+    log?.info?.(`creating reader ${readerGuid} -> ${writerView.guid()} for ${subscription.topicName}`);
     const reader = new Reader_1.Reader({
@@ -16,0 +16,0 @@ guidPrefix: localAttributes.guidPrefix,

package.json

 {
   "name": "@foxglove/rtps",
-  "version": "1.2.1",
+  "version": "1.2.2",
   "description": "Real-Time Publish Subscribe (DDS-RTPS) protocol implementation with a pluggable transport layer. This is a subset of the complete specification optimized for ROS 2 (Robot Operating System) connections",
@@ -5,0 +5,0 @@ "license": "MIT",

README.md

@@ -5,2 +5,4 @@ # @foxglove/rtps
 
+[![npm version](https://img.shields.io/npm/v/@foxglove/rtps.svg?style=flat)](https://www.npmjs.com/package/@foxglove/rtps)
+
 ## Usage
@@ -7,0 +9,0 @@

src/common/enums.ts

@@ -97,2 +97,3 @@ export enum EncapsulationKind {
   UDPv6 = 2,
+  Unknown = 16,
 }
@@ -99,0 +100,0 @@

src/discovery/simple.ts

 import { Time } from "@foxglove/rostime";
 
 import { ParticipantAttributes } from "../ParticipantAttributes";
-import { guidParts, HistoryKind } from "../common";
+import { guidParts, HistoryKind, Locator, LocatorKind } from "../common";
 import { ParametersView } from "../messaging";
@@ -37,11 +37,11 @@ import { EndpointAttributes } from "../routing";
 
-  const metatrafficUnicastLocatorList =
-    metatrafficUnicastLocator != undefined ? [metatrafficUnicastLocator] : [];
-  const metatrafficMulticastLocatorList =
-    metatrafficMulticastLocator != undefined ? [metatrafficMulticastLocator] : [];
-  const defaultUnicastLocatorList =
-    defaultUnicastLocator != undefined ? [defaultUnicastLocator] : [];
-  const defaultMulticastLocatorList =
-    defaultMulticastLocator != undefined ? [defaultMulticastLocator] : [];
+  const metatrafficUnicastLocatorList = filterLocators(metatrafficUnicastLocator);
+  const metatrafficMulticastLocatorList = filterLocators(metatrafficMulticastLocator);
+  const defaultUnicastLocatorList = filterLocators(defaultUnicastLocator);
+  const defaultMulticastLocatorList = filterLocators(defaultMulticastLocator);
 
+  if (defaultUnicastLocatorList.length === 0) {
+    return undefined;
+  }
+
   return {
@@ -108,1 +108,7 @@ timestamp,
 }
+
+function filterLocators(locators: Locator[]): Locator[] {
+  const udp4 = locators.filter((locator) => locator.kind === LocatorKind.UDPv4);
+  const udp6 = locators.filter((locator) => locator.kind === LocatorKind.UDPv6);
+  return udp4.concat(udp6);
+}

src/messaging/MessageView.test.ts

@@ -109,12 +109,16 @@ import {
     expect(allParams.get(ParameterId.PID_DOMAIN_ID)).toEqual(0);
-    expect(allParams.get(ParameterId.PID_DEFAULT_UNICAST_LOCATOR)).toEqual({
-      kind: LocatorKind.UDPv4,
-      port: 58584,
-      address: "10.0.0.46",
-    });
-    expect(allParams.get(ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR)).toEqual({
-      kind: LocatorKind.UDPv4,
-      port: 58584,
-      address: "10.0.0.46",
-    });
+    expect(allParams.get(ParameterId.PID_DEFAULT_UNICAST_LOCATOR)).toEqual([
+      {
+        kind: LocatorKind.UDPv4,
+        port: 58584,
+        address: "10.0.0.46",
+      },
+    ]);
+    expect(allParams.get(ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR)).toEqual([
+      {
+        kind: LocatorKind.UDPv4,
+        port: 58584,
+        address: "10.0.0.46",
+      },
+    ]);
     expect(allParams.get(ParameterId.PID_ADLINK_PARTICIPANT_VERSION_INFO)).toEqual("Johns-MacBook-Pro.local/0.8.0/Darwin/Darwin"); // prettier-ignore
@@ -121,0 +125,0 @@ expect(allParams.get(ParameterId.PID_SAMPLE_SIGNATURE)).toEqual(new Uint8Array([0, 0, 0x10, 0])); // prettier-ignore

src/messaging/ParametersView.ts

@@ -35,3 +35,12 @@ import { CdrReader, EncapsulationKind } from "@foxglove/cdr";
       const value = getParameterValue(parameterId, parameterLength, reader);
-      this.map.set(parameterId, value);
+      if (isMultiParameter(parameterId)) {
+        let array = this.map.get(parameterId) as unknown[];
+        if (array == undefined) {
+          array = [];
+          this.map.set(parameterId, array);
+        }
+        array.push(value);
+      } else {
+        this.map.set(parameterId, value);
+      }
     }
@@ -108,16 +117,20 @@ }
 
-  defaultUnicastLocator(): Locator | undefined {
-    return this.map.get(ParameterId.PID_DEFAULT_UNICAST_LOCATOR) as Locator | undefined;
+  defaultUnicastLocator(): Locator[] {
+    return (this.map.get(ParameterId.PID_DEFAULT_UNICAST_LOCATOR) as Locator[] | undefined) ?? [];
   }
 
-  defaultMulticastLocator(): Locator | undefined {
-    return this.map.get(ParameterId.PID_DEFAULT_MULTICAST_LOCATOR) as Locator | undefined;
+  defaultMulticastLocator(): Locator[] {
+    return (this.map.get(ParameterId.PID_DEFAULT_MULTICAST_LOCATOR) as Locator[] | undefined) ?? [];
   }
 
-  metatrafficUnicastLocator(): Locator | undefined {
-    return this.map.get(ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR) as Locator | undefined;
+  metatrafficUnicastLocator(): Locator[] {
+    return (
+      (this.map.get(ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR) as Locator[] | undefined) ?? []
+    );
   }
 
-  metatrafficMulticastLocator(): Locator | undefined {
-    return this.map.get(ParameterId.PID_METATRAFFIC_MULTICAST_LOCATOR) as Locator | undefined;
+  metatrafficMulticastLocator(): Locator[] {
+    return (
+      (this.map.get(ParameterId.PID_METATRAFFIC_MULTICAST_LOCATOR) as Locator[] | undefined) ?? []
+    );
   }
@@ -249,1 +262,10 @@
 }
+
+function isMultiParameter(parameterId: ParameterId): boolean {
+  return (
+    parameterId === ParameterId.PID_DEFAULT_UNICAST_LOCATOR ||
+    parameterId === ParameterId.PID_DEFAULT_MULTICAST_LOCATOR ||
+    parameterId === ParameterId.PID_METATRAFFIC_UNICAST_LOCATOR ||
+    parameterId === ParameterId.PID_METATRAFFIC_MULTICAST_LOCATOR
+  );
+}

src/Participant.ts

@@ -74,3 +74,2 @@ import { CdrReader } from "@foxglove/cdr";
   discoveryMulticastPort,
-  locatorForSocket,
   locatorFromUdpAddress,
@@ -221,3 +220,3 @@ MULTICAST_IPv4,
     this._unicastSocket = await createUdpSocket(
-      address,
+      undefined,
       this._udpSocketCreate,
@@ -227,4 +226,5 @@ this.handleUdpMessage,
     );
-    const locator = await locatorForSocket(this._unicastSocket);
-    if (locator != undefined) {
+    const listenAddr = await this._unicastSocket.localAddress();
+    if (listenAddr != undefined) {
+      const locator = locatorFromUdpAddress({ address, family: "IPv4", port: listenAddr.port });
       this._log?.debug?.(`listening on UDP ${locator.address}:${locator.port}`);
@@ -299,6 +299,6 @@ this.attributes.defaultUnicastLocatorList = [locator];
 
-    await this.sendChanges(writer);
+    await this.sendMetatrafficChanges(writer);
   }
 
-  async sendChanges(writer: Writer): Promise<void> {
+  async sendDefaultChanges(writer: Writer): Promise<void> {
     const promises: Promise<void>[] = [];
@@ -316,2 +316,15 @@ for (const participant of this._participants.values()) {
 
+  async sendMetatrafficChanges(writer: Writer): Promise<void> {
+    const promises: Promise<void>[] = [];
+    for (const participant of this._participants.values()) {
+      const readers = participant.remoteReadersForWriterId(writer.attributes.entityId);
+      for (const reader of readers) {
+        promises.push(
+          this.sendChangesTo(reader, writer, participant.attributes.metatrafficUnicastLocatorList),
+        );
+      }
+    }
+    await Promise.all(promises);
+  }
+
   async sendChangesTo(reader: ReaderView, writer: Writer, locators: Locator[]): Promise<void> {
@@ -399,8 +412,9 @@ const srcSocket = this._unicastSocket;
 
-    // Send this message as a UDP packet
     this._log?.debug?.(
-      `sending ${changes.length} change(s) (${msg.size} bytes), reader=${uint32ToHex(
+      `sending ${changes.length} change(s) (${msg.size} bytes), reader=${this.readerName(
         readerEntityId,
-      )}, writer=${uint32ToHex(writerEntityId)}`,
+      )}, writer=${this.writerName(writerEntityId)}`,
     );
+
+    // Send this message as a UDP packet
     await sendMessageToUdp(msg, srcSocket, locators);
@@ -454,3 +468,3 @@ }
 
-    void this.sendChanges(writer);
+    void this.sendMetatrafficChanges(writer);
 
@@ -503,3 +517,3 @@ return readerEntityId;
 
-    void this.sendChanges(writer);
+    void this.sendMetatrafficChanges(writer);
 
@@ -543,3 +557,3 @@ return true;
 
-    await this.sendChanges(writer);
+    await this.sendMetatrafficChanges(writer);
   }
@@ -601,3 +615,3 @@
     this._log?.debug?.(`unadvertising participant ${guidPrefix}`);
-    await this.sendChanges(writer);
+    await this.sendMetatrafficChanges(writer);
   }
@@ -634,2 +648,7 @@
 
+    // If there are no sequence numbers to acknowledge, do not send an ACKNACK.
+    // Doing so will enter an infinite loop with FastRTPS
+    if (sequenceNumSet.base === 0n) {
+      return;
+    }
     // If the final flag is set and we have no missing sequence numbers, do not send an ACKNACK
@@ -739,2 +758,17 @@ if (final && sequenceNumSet.empty()) {
 
+  private readerName(readerEntityId: EntityId): string {
+    const name =
+      this._subscriptions.get(readerEntityId)?.topicName ??
+      EntityIdBuiltin[readerEntityId] ??
+      EntityKind[readerEntityId & 0xff] ??
+      "(unknown)";
+    return `${name} [${uint32ToHex(readerEntityId)}]`;
+  }
+
+  private writerName(writerEntityId: EntityId): string {
+    const name =
+      EntityIdBuiltin[writerEntityId] ?? EntityKind[writerEntityId & 0xff] ?? "(unknown)";
+    return `${name} [${uint32ToHex(writerEntityId)}]`;
+  }
+
   private handleError = (err: Error): void => {
@@ -802,7 +836,9 @@ if (this._running) {
     this._log?.debug?.(
-      `  [SUBMSG] HEARTBEAT reader=${uint32ToHex(heartbeat.readerEntityId)} writer=${uint32ToHex(
-        heartbeat.writerEntityId,
-      )} ${heartbeat.firstAvailableSeqNumber},${heartbeat.lastSeqNumber} (count=${
-        heartbeat.count
-      }, liveliness=${heartbeat.liveliness}, final=${heartbeat.final})`,
+      `  [SUBMSG] HEARTBEAT reader=${this.readerName(
+        heartbeat.readerEntityId,
+      )} writer=${this.writerName(heartbeat.writerEntityId)} seq=${
+        heartbeat.firstAvailableSeqNumber
+      },${heartbeat.lastSeqNumber} (count=${heartbeat.count}, liveliness=${
+        heartbeat.liveliness
+      }, final=${heartbeat.final})`,
     );
@@ -859,3 +895,3 @@
     this._log?.debug?.(
-      `  [SUBMSG] GAP reader=${uint32ToHex(readerEntityId)} writer=${uint32ToHex(
+      `  [SUBMSG] GAP reader=${this.readerName(readerEntityId)} writer=${this.writerName(
         writerEntityId,
@@ -890,5 +926,5 @@ )} gapStart=${gapStart}, gapEnd=${gapEnd}, list=${gapList.toString()}`,
     this._log?.debug?.(
-      `  [SUBMSG] ACKNACK reader=${uint32ToHex(ackNack.readerEntityId)} writer=${uint32ToHex(
-        ackNack.writerEntityId,
-      )} ${ackNack.readerSNState.toString()}`,
+      `  [SUBMSG] ACKNACK reader=${this.readerName(
+        ackNack.readerEntityId,
+      )} writer=${this.writerName(ackNack.writerEntityId)} ${ackNack.readerSNState.toString()}`,
     );
@@ -921,3 +957,7 @@
 
-    void this.sendChangesTo(readerView, writer, participant.attributes.defaultUnicastLocatorList);
+    void this.sendChangesTo(
+      readerView,
+      writer,
+      participant.attributes.metatrafficUnicastLocatorList,
+    );
   };
@@ -951,3 +991,3 @@
     this._log?.debug?.(
-      `  [SUBMSG] DATA reader=${uint32ToHex(readerEntityId)} writer=${uint32ToHex(
+      `  [SUBMSG] DATA reader=${this.readerName(readerEntityId)} writer=${this.writerName(
         writerEntityId,
@@ -1153,3 +1193,7 @@ )} ${data.length} bytes (seq ${sequenceNumber}) from ${writerGuid}, ${
         for (const reader of readers) {
-          void this.sendChangesTo(reader, writer, participant.attributes.defaultUnicastLocatorList);
+          void this.sendChangesTo(
+            reader,
+            writer,
+            participant.attributes.metatrafficUnicastLocatorList,
+          );
         }
@@ -1156,0 +1200,0 @@ }

src/routing/matching.ts

@@ -41,3 +41,3 @@ import { ParticipantAttributes } from "../ParticipantAttributes";
   log?.info?.(
-    `Creating reader ${readerGuid} -> ${writerView.guid()} for ${subscription.topicName}`,
+    `creating reader ${readerGuid} -> ${writerView.guid()} for ${subscription.topicName}`,
   );
@@ -44,0 +44,0 @@

No alert changes

Improved metrics

Total package byte prevSize

699018

increased by1.02%

Lines of code

10763

increased by1.22%

Number of lines in readme file

26

increased by8.33%

No dependency changes