Bug in filtergateway when no condition yaml is used

[akshaylg0314]

In fitergateway i am getting this dummy data:

Received scenario handling request
handle_scenario: elapsed = 90.719µs
Successfully handled scenario
Received scenario parameter: ScenarioParameter { action: 0, scenario: Scenario { apiVersion: "v1", kind: "Scenario", metadata: MetaData { name: "infotainment", labels: None, annotations: None }, spec: ScenarioSpec { condition: None, action: "update", target: "infotainment" }, status: None } }
DDSManager - Creating typed listener for topic ''Generated - Creating listener for type: 
subscribe_topic: elapsed = 25.289µs
No conditions for scenario: infotainment
process data for scenario: autonomous_driving
Topic: ""
Target Name: "{}"
Target Value: {}
process data for scenario: emergencypopup
Topic: ""
Target Name: "{}"

Steps to reproduce this Issue:
1->Launch apiserver,filtergateway,nodeagent,monitoringserver,ETCD
2->Parse first Yaml with some condition for example ADASOBSTECALE
3->Parse Second Yaml with no condition

Now after this we will get some dummy data in filtergateway every 100ms, there is no DDS data is coming them also we are getting DDS data processed logs from filtergateway.

[akshaylg0314]

This issue is coming Mostly due to /player/filtergateway/src/vehicle/dds/listener.rs

async fn listener_loop(
        topic_name: String,
        data_type_name: String,
        tx: Sender<DdsData>,
        domain_id: i32,
    ) -> Result<()> {
        // 도메인 참여자 생성
        info!("Generic listener started for topic '{}'", topic_name);
 
        let domain_participant_factory = DomainParticipantFactory::get_instance();
        let participant = domain_participant_factory
            .create_participant(domain_id, QosKind::Default, None, NO_STATUS)
            .map_err(|e| anyhow!("Failed to create domain participant: {:?}", e))?;
 
        // 구독자 생성
        // commenting below subscriber never used in this block
        let _subscriber = participant
            .create_subscriber(QosKind::Default, None, NO_STATUS)
            .map_err(|e| anyhow!("Failed to create subscriber: {:?}", e))?;
 
        // IDL 타입 정보를 유동적으로 처리
        // 토픽 메타데이터에 따라 데이터 처리를 다르게 함
        info!(
            "Setting up listener for topic {} of type {}",
            topic_name, data_type_name
        );
 
        // 메시지 수신 루프
        let mut interval = time::interval(time::Duration::from_millis(100));
 
        loop {
            interval.tick().await;
 
            // 수신된 DDS 메시지를 파싱하여 DdsData 형태로 변환
            let dds_data = DdsData {
                name: data_type_name.clone(),
                value: "{}".to_string(), // 실제 값은 메시지 수신 시 채워짐
                fields: HashMap::new(),
            };
 
            // 데이터 전송 채널이 닫히면 루프 종료
            if tx.send(dds_data).await.is_err() {
                warn!("Channel closed, stopping listener for {}", topic_name);
                break;
            }
        }
 
        Ok(())
    }

[akshaylg0314]

Hey @daeyoung-jeong-lge @youngtaekiim
please let me know is this Sending to dummy data is intentionally done in listener code or this is a bug?

[daeyoung-jeong-lge]

Hey @daeyoung-jeong-lge @youngtaekiim please let me know is this Sending to dummy data is intentionally done in listener code or this is a bug?

@akshaylg0314
The code might be there to maintain the DDS communication connection status or to check the disconnection status.

@youngtaekiim
Could you please confirm if my statement above is correct? And if it is, I would like to suggest that it might be better to create it as a separate explicit loop/function with a specific name.

[youngtaekiim]

이것은 의도된 동작이 아닙니다. 아마도 다음 부분이 원인으로 보입니다.
This is not intended behavior. The following likely causes:

filtergateway/src/manager.rs Line 174~

    async fn process_grpc_requests(&self) -> Result<()> {
     .......
          match scenario_parameter {
                Some(param) => {
                    println!("Received scenario parameter: {:?}", param);
                    match param.action {
                        0 => {
                            // Allow
                            // Subscribe to vehicle data
                            let topic_name = param
                                .scenario
                                .get_conditions()
                                .as_ref()
                                .map(|cond| cond.get_operand_value())
                                .unwrap_or_default();
                            let data_type_name = param
                                .scenario
                                .get_conditions()
                                .as_ref()
                                .map(|cond| cond.get_operand_value())
                                .unwrap_or_default();
                            let mut vehicle_manager = self.vehicle_manager.lock().await;
                            if let Err(e) = vehicle_manager
                                .subscribe_topic(topic_name, data_type_name)
                                .await
                            {
                                eprintln!("Error subscribing to vehicle data: {:?}", e);
                            }
                            self.launch_scenario_filter(param.scenario).await?;
                        }

코드의 Line 202에 있는 vehicle_manager.subscribe_topic 이 condition이 없는 경우에도 호출되고 있습니다. 이로 인해 비어있는 DDS 데이터를 수신하는 부분이 생긴 것으로 보입니다.
At line 202 of the code, vehicle_manager.subscribe_topic is being called even when there is no condition. This appears to be causing the part of the code to receive empty DDS data.

[leeeunkoo]

@akshaylg0314 It seems some logic is wrong. but subscribe listner is not works well on disconnecting to publisher. so we don't assume the use case of disconnecting topic.
if possible, you can investigate it more. Thanks.

[daeyoung-jeong-lge]

@akshaylg0314 @basheerFZ This is a bug, and we will fix this ASAP. But currently we are middle of important change you may know, so some delay will be there. We will remain this issue to be opened until the fix is made.