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Move easy mode logic to RTPS layer
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Signed-off-by: Juan Lopez Fernandez <[email protected]>
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@juanlofer-eprosima
juanlofer-eprosima committed Feb 27, 2025
1 parent 3d7dcab commit 20997a0
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Showing 3 changed files with 225 additions and 46 deletions.
13 changes: 3 additions & 10 deletions src/cpp/fastdds/domain/DomainParticipantImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,23 +274,16 @@ ReturnCode_t DomainParticipantImpl::enable()
utils::set_attributes_from_qos(rtps_attr, qos_);
rtps_attr.participantID = participant_id_;

// If DEFAULT_ROS2_MASTER_URI is specified then try to create default client if
// that already exists.
RTPSParticipant* part = RTPSDomainImpl::clientServerEnvironmentCreationOverride(
RTPSParticipant* part = RTPSDomain::createParticipant(
domain_id_,
false,
rtps_attr,
&rtps_listener_);

if (part == nullptr)
{
part = RTPSDomain::createParticipant(domain_id_, false, rtps_attr, &rtps_listener_);

if (part == nullptr)
{
EPROSIMA_LOG_ERROR(DOMAIN_PARTICIPANT, "Problem creating RTPSParticipant");
return RETCODE_ERROR;
}
EPROSIMA_LOG_ERROR(DOMAIN_PARTICIPANT, "Problem creating RTPSParticipant");
return RETCODE_ERROR;
}

guid_ = part->getGuid();
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224 changes: 203 additions & 21 deletions src/cpp/rtps/RTPSDomain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ RTPSParticipant* RTPSDomain::createParticipant(
const RTPSParticipantAttributes& attrs,
RTPSParticipantListener* listen)
{
return RTPSDomainImpl::createParticipant(domain_id, true, attrs, listen);
return createParticipant(domain_id, true, attrs, listen);
}

RTPSParticipant* RTPSDomain::createParticipant(
Expand All @@ -127,7 +127,20 @@ RTPSParticipant* RTPSDomain::createParticipant(
const RTPSParticipantAttributes& attrs,
RTPSParticipantListener* listen)
{
return RTPSDomainImpl::createParticipant(domain_id, enabled, attrs, listen);
RTPSParticipant* part = nullptr;
RTPSParticipantAttributes env_attrs = attrs;

if (RTPSDomainImpl::client_server_environment_attributes_override(domain_id, env_attrs))
{
part = RTPSDomainImpl::createParticipant(domain_id, enabled, env_attrs, listen);
}

if (nullptr == part)
{
part = RTPSDomainImpl::createParticipant(domain_id, enabled, attrs, listen);
}

return part;
}

bool RTPSDomain::removeRTPSParticipant(
Expand Down Expand Up @@ -518,18 +531,188 @@ bool RTPSDomainImpl::removeRTPSReader(
return false;
}

RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
// RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
// uint32_t domain_id,
// bool enabled,
// const RTPSParticipantAttributes& att,
// RTPSParticipantListener* listen)
// {
// // Check the specified discovery protocol: if other than simple it has priority over ros environment variable
// if (att.builtin.discovery_config.discoveryProtocol != DiscoveryProtocol::SIMPLE)
// {
// EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Detected non simple discovery protocol attributes."
// << " Ignoring auto default client-server setup.");
// return nullptr;
// }

// // We only make the attributes copy when we are sure is worth
// // Is up to the caller guarantee the att argument is not modified during the call
// RTPSParticipantAttributes client_att(att);

// // Check whether we need to initialize in easy mode
// const std::string& easy_mode_env_value = easy_mode_env();

// if (easy_mode_env_value.empty())
// {
// // Retrieve the info from the environment variable
// LocatorList_t& server_list = client_att.builtin.discovery_config.m_DiscoveryServers;
// if (load_environment_server_info(server_list) && server_list.empty())
// {
// // It's not an error, the environment variable may not be set. Any issue with environment
// // variable syntax is EPROSIMA_LOG_ERROR already
// return nullptr;
// }

// // Check if some address requires the UDPv6, TCPv4 or TCPv6 transport
// if (server_list.has_kind<LOCATOR_KIND_UDPv6>() &&
// !has_user_transport<fastdds::rtps::UDPv6TransportDescriptor>(client_att))
// {
// // Extend builtin transports with the UDPv6 transport
// auto descriptor = std::make_shared<fastdds::rtps::UDPv6TransportDescriptor>();
// descriptor->sendBufferSize = client_att.sendSocketBufferSize;
// descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
// client_att.userTransports.push_back(std::move(descriptor));
// }
// if (server_list.has_kind<LOCATOR_KIND_TCPv4>() &&
// !has_user_transport<fastdds::rtps::TCPv4TransportDescriptor>(client_att))
// {
// // Extend builtin transports with the TCPv4 transport
// auto descriptor = std::make_shared<fastdds::rtps::TCPv4TransportDescriptor>();
// // Add automatic port
// descriptor->add_listener_port(0);
// descriptor->sendBufferSize = client_att.sendSocketBufferSize;
// descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
// client_att.userTransports.push_back(std::move(descriptor));
// }
// if (server_list.has_kind<LOCATOR_KIND_TCPv6>() &&
// !has_user_transport<fastdds::rtps::TCPv6TransportDescriptor>(client_att))
// {
// // Extend builtin transports with the TCPv6 transport
// auto descriptor = std::make_shared<fastdds::rtps::TCPv6TransportDescriptor>();
// // Add automatic port
// descriptor->add_listener_port(0);
// descriptor->sendBufferSize = client_att.sendSocketBufferSize;
// descriptor->receiveBufferSize = client_att.listenSocketBufferSize;
// client_att.userTransports.push_back(std::move(descriptor));
// }

// EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Detected auto client-server environment variable."
// << "Trying to create client with the default server setup: "
// << client_att.builtin.discovery_config.m_DiscoveryServers);

// client_att.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::CLIENT;
// // RemoteServerAttributes already fill in above

// // Check if the client must become a super client
// if (ros_super_client_env())
// {
// client_att.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SUPER_CLIENT;
// }
// }
// else
// {
// // SUPER_CLIENT
// client_att.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SUPER_CLIENT;

// // P2P transport. Similar to LARGE_DATA, but with UDPv4 unicast
// client_att.useBuiltinTransports = false;
// client_att.setup_transports(BuiltinTransports::P2P);

// // Ignore initialpeers
// client_att.builtin.initialPeersList = LocatorList();

// eprosima::fastdds::rtps::PortParameters port_params;

// auto domain_port = port_params.get_discovery_server_port(domain_id);

// // Add user traffic TCP
// eprosima::fastdds::rtps::Locator_t locator_tcp;
// locator_tcp.kind = LOCATOR_KIND_TCPv4;

// IPLocator::setPhysicalPort(locator_tcp, 0);
// IPLocator::setLogicalPort(locator_tcp, 0);
// // Initialize to the wan interface
// IPLocator::setIPv4(locator_tcp, "0.0.0.0");

// client_att.defaultUnicastLocatorList.push_back(locator_tcp);

// // Add remote DS based on port
// eprosima::fastdds::rtps::Locator_t locator_udp;
// locator_udp.kind = LOCATOR_KIND_UDPv4;

// locator_udp.port = domain_port;
// IPLocator::setIPv4(locator_udp, 127, 0, 0, 1);

// // Point to the well known DS port in the corresponding domain
// client_att.builtin.discovery_config.m_DiscoveryServers.push_back(locator_udp);

// // Load the 'service' profile for ROS2_EASY_MODE services if there is no existing profile yet
// xmlparser::PublisherAttributes attr;
// auto ret_if = xmlparser::XMLProfileManager::fillPublisherAttributes("service", attr, false);
// if (ret_if == xmlparser::XMLP_ret::XML_ERROR)
// {
// // An XML_ERROR is returned if there is no existing profile for the given name
// xmlparser::XMLProfileManager::loadXMLString(EASY_MODE_SERVICE_PROFILE, strlen(EASY_MODE_SERVICE_PROFILE));
// EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Loaded service profile for ROS2_EASY_MODE servers");
// }
// else
// {
// // There is already a profile with the given name. Do not overwrite it
// EPROSIMA_LOG_WARNING(RTPS_DOMAIN, "An XML profile for 'service' was found. When using ROS2_EASY_MODE, please ensure"
// " the max_blocking_time is configured with a value higher than the default.");
// }

// SystemCommandBuilder sys_command;
// int res = sys_command.executable(FAST_DDS_DEFAULT_CLI_SCRIPT_NAME)
// .verb(FAST_DDS_DEFAULT_CLI_DISCOVERY_VERB)
// .verb(FAST_DDS_DEFAULT_CLI_AUTO_VERB)
// .arg("-d")
// .value(std::to_string(domain_id))
// .value(easy_mode_env_value + ":" + std::to_string(domain_id))
// .build_and_call();
// #ifndef _WIN32
// // Adecuate Python subprocess return
// res = WEXITSTATUS(res);
// #endif // _WIN32

// if (res != SystemCommandBuilder::SystemCommandResult::SUCCESS)
// {
// if (res == SystemCommandBuilder::SystemCommandResult::BAD_PARAM)
// {
// EPROSIMA_LOG_ERROR("DOMAIN", "ROS2_EASY_MODE IP connection conflicts with a previous one.");
// }
// else
// {
// EPROSIMA_LOG_ERROR(DOMAIN, "Auto discovery server client setup. Unable to spawn daemon.");
// }
// return nullptr;
// }
// }

// RTPSParticipant* part = createParticipant(domain_id, enabled, client_att, listen);
// if (nullptr != part)
// {
// // Client successfully created
// EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Auto default server-client setup. Default client created.");
// part->mp_impl->client_override(true);
// return part;
// }

// // Unable to create auto server-client default participants
// EPROSIMA_LOG_ERROR(RTPS_DOMAIN, "Auto default server-client setup. Unable to create the client.");
// return nullptr;
// }

bool RTPSDomainImpl::client_server_environment_attributes_override(
uint32_t domain_id,
bool enabled,
const RTPSParticipantAttributes& att,
RTPSParticipantListener* listen)
RTPSParticipantAttributes& att)
{
// Check the specified discovery protocol: if other than simple it has priority over ros environment variable
if (att.builtin.discovery_config.discoveryProtocol != DiscoveryProtocol::SIMPLE)
{
EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Detected non simple discovery protocol attributes."
<< " Ignoring auto default client-server setup.");
return nullptr;
return false;
}

// We only make the attributes copy when we are sure is worth
Expand All @@ -547,7 +730,7 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
{
// It's not an error, the environment variable may not be set. Any issue with environment
// variable syntax is EPROSIMA_LOG_ERROR already
return nullptr;
return false;
}

// Check if some address requires the UDPv6, TCPv4 or TCPv6 transport
Expand Down Expand Up @@ -672,22 +855,21 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
{
EPROSIMA_LOG_ERROR(DOMAIN, "Auto discovery server client setup. Unable to spawn daemon.");
}
return nullptr;
return false;
}
}

RTPSParticipant* part = createParticipant(domain_id, enabled, client_att, listen);
if (nullptr != part)
{
// Client successfully created
EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Auto default server-client setup. Default client created.");
part->mp_impl->client_override(true);
return part;
}

// Unable to create auto server-client default participants
EPROSIMA_LOG_ERROR(RTPS_DOMAIN, "Auto default server-client setup. Unable to create the client.");
return nullptr;
// RTPSParticipant* part = createParticipant(domain_id, enabled, client_att, listen);
// if (nullptr != part)
// {
// // Client successfully created
// EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Auto default server-client setup. Default client created.");
// part->mp_impl->client_override(true);
// return part;
// }
EPROSIMA_LOG_INFO(RTPS_DOMAIN, "TODO.");
att = client_att;
return true;
}

uint32_t RTPSDomainImpl::getNewId()
Expand Down
34 changes: 19 additions & 15 deletions src/cpp/rtps/RTPSDomainImpl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,22 +114,26 @@ class RTPSDomainImpl
static bool removeRTPSParticipant(
RTPSParticipant* p);

/**
* Creates a RTPSParticipant as default server or client if ROS_MASTER_URI environment variable is set.
* @param domain_id DDS domain associated
* @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
* @param attrs RTPSParticipant Attributes.
* @param listen Pointer to the ParticipantListener.
* @return Pointer to the RTPSParticipant.
*
* \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
* so its use may result in undefined behaviour.
*/
static RTPSParticipant* clientServerEnvironmentCreationOverride(
// /**
// * Creates a RTPSParticipant as default server or client if ROS_MASTER_URI environment variable is set.
// * @param domain_id DDS domain associated
// * @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
// * @param attrs RTPSParticipant Attributes.
// * @param listen Pointer to the ParticipantListener.
// * @return Pointer to the RTPSParticipant.
// *
// * \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
// * so its use may result in undefined behaviour.
// */
// static RTPSParticipant* clientServerEnvironmentCreationOverride(
// uint32_t domain_id,
// bool enabled,
// const RTPSParticipantAttributes& attrs,
// RTPSParticipantListener* listen /*= nullptr*/);

static bool client_server_environment_attributes_override(
uint32_t domain_id,
bool enabled,
const RTPSParticipantAttributes& attrs,
RTPSParticipantListener* listen /*= nullptr*/);
RTPSParticipantAttributes& attrs);

/**
* Create a RTPSWriter in a participant.
Expand Down

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