Refs #22627: ROS2_EASY_MODE

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>

include/fastdds/rtps/attributes/BuiltinTransports.hpp

@@ -112,7 +112,7 @@ enum class BuiltinTransports : uint16_t
     UDPv6 = 5,         //< Instantiate UDPv6 transport only
     LARGE_DATA = 6,    //< Instantiate SHM, UDPv4 and TCPv4 transports, but UDPv4 is only used for bootstrapping discovery
     LARGE_DATAv6 = 7,  //< Instantiate SHM, UDPv6 and TCPv6 transports, but UDPv6 is only used for bootstrapping discovery
-    P2P = 8            //< Instantiate SHM, UDPv4 (unicast) and TCPv4 transports, shall only be used along with EASY_MODE=<ip>
+    P2P = 8            //< Instantiate SHM, UDPv4 (unicast) and TCPv4 transports, shall only be used along with ROS2_EASY_MODE=<ip>
 };
 
 inline std::ostream& operator <<(

src/cpp/rtps/RTPSDomain.cpp

@@ -633,7 +633,7 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
         {
             if (res == SystemCommandBuilder::SystemCommandResult::BAD_PARAM)
             {
-                EPROSIMA_LOG_ERROR("DOMAIN", "EASY_MODE IP connection conflicts with a previous one.");
+                EPROSIMA_LOG_ERROR("DOMAIN", "ROS2_EASY_MODE IP connection conflicts with a previous one.");
             }
             else
             {

src/cpp/rtps/attributes/ServerAttributes.hpp

@@ -154,7 +154,7 @@ const char* const DEFAULT_ROS2_MASTER_URI = "ROS_DISCOVERY_SERVER";
  * - Set the transports to TCP and SHM.
  * - Make the participant a SUPER_CLIENT.
  */
-const char* const EASY_MODE_URI = "EASY_MODE";
+const char* const EASY_MODE_URI = "ROS2_EASY_MODE";
 
 /* Environment variable to transform a SIMPLE participant in a SUPER CLIENT.
  * If the participant is not SIMPLE, the variable doesn't have any effects.

test/blackbox/common/BlackboxTestsTransportCustom.cpp

@@ -620,8 +620,8 @@ TEST(ChainingTransportTests, builtin_transports_env_large_data)
  */
 TEST(ChainingTransportTests, builtin_transports_env_p2p)
 {
-#ifndef _WIN32 // EASY_MODE not available on Windows yet
-    setenv("EASY_MODE", "127.0.0.1", 1);
+#ifndef _WIN32 // ROS2_EASY_MODE not available on Windows yet
+    setenv("ROS2_EASY_MODE", "127.0.0.1", 1);
     BuiltinTransportsTest::test_env("P2P");
 #endif // _WIN32
 }
@@ -690,7 +690,7 @@ TEST(ChainingTransportTests, builtin_transports_xml_large_data)
 }
 
 /**
- * DS Auto transport shall always be used along with EASY_MODE=<ip>.
+ * DS Auto transport shall always be used along with ROS2_EASY_MODE=<ip>.
  * This is due to the working principle of the mode. If it is not specified,
  * the background discovery server will not be launched and the test will never
  * finish since both clients will keep waiting for it.
@@ -699,8 +699,8 @@ TEST(ChainingTransportTests, builtin_transports_xml_large_data)
  */
 TEST(ChainingTransportTests, builtin_transports_xml_p2p)
 {
-#ifndef _WIN32 // EASY_MODE not available on Windows yet
-    setenv("EASY_MODE", "127.0.0.1", 1);
+#ifndef _WIN32 // ROS2_EASY_MODE not available on Windows yet
+    setenv("ROS2_EASY_MODE", "127.0.0.1", 1);
     BuiltinTransportsTest::test_xml("builtin_transports_profile.xml", "participant_p2p");
 #endif // _WIN32
 }

test/blackbox/common/DDSBlackboxTestsDSEasyMode.cpp

@@ -30,9 +30,9 @@ void set_easy_discovery_mode_env(
 {
     /* Set environment variable which will contain the ip of an external point of discovery*/
 #ifdef _WIN32
-    _putenv_s("EASY_MODE", ip.c_str());
+    _putenv_s("ROS2_EASY_MODE", ip.c_str());
 #else
-    setenv("EASY_MODE", ip.c_str(), 1);
+    setenv("ROS2_EASY_MODE", ip.c_str(), 1);
 #endif // _WIN32
 
 }
@@ -47,7 +47,7 @@ void stop_background_servers()
 /**
  * Refers to FASTDDS-EASYMODE-TEST:01 from the test plan.
  *
- * Launching a participant client with the environment variable EASY_MODE
+ * Launching a participant client with the environment variable ROS2_EASY_MODE
  * correctly spawns and discovers a Discovery Server in the expected
  * domain.
  *
@@ -120,7 +120,7 @@ TEST(DSEasyMode, easy_discovery_mode_env_correctly_launches)
 /**
  * Refers to FASTDDS-EASYMODE-TEST:02 from the test plan.
  *
- * TCP and SHM are the transports used in EASY_MODE.
+ * TCP and SHM are the transports used in ROS2_EASY_MODE.
  */
 TEST(DSEasyMode, easy_discovery_mode_env_correct_transports_are_used)
 {
@@ -307,7 +307,7 @@ TEST(DSEasyMode, easy_discovery_mode_env_multiple_clients_multiple_domains)
 
 /**
  * Launching a second participant in the same domain with different
- * EASY_MODE ip value shall log an error.
+ * ROS2_EASY_MODE ip value shall log an error.
  */
 TEST(DSEasyMode, easy_discovery_mode_env_inconsistent_ip)
 {
@@ -344,14 +344,14 @@ TEST(DSEasyMode, easy_discovery_mode_env_inconsistent_ip)
     Log::SetVerbosity(Log::Kind::Error);
     Log::RegisterConsumer(std::unique_ptr<LogConsumer>(new TestConsumer(n_logs)));
 
-    // Set EASY_MODE to localhost
+    // Set ROS2_EASY_MODE to localhost
     set_easy_discovery_mode_env();
     PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
 
     writer.init();
     ASSERT_TRUE(writer.isInitialized());
 
-    // Set EASY_MODE to another address in the same domain
+    // Set ROS2_EASY_MODE to another address in the same domain
     set_easy_discovery_mode_env("192.168.1.100");
     PubSubWriter<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
 

test/system/tools/fastdds/test_discovery_parser.py

@@ -191,14 +191,14 @@ def test_parser_auto_easy_mode_domain_env(self, mock_rpc_stopall, mock_rpc_nbreq
         mock_rpc_brequest.return_value = 'Mocked request'
         mock_spawn.return_value = True
 
-        self.set_env_values('EASY_MODE', '127.0.0.1')
+        self.set_env_values('ROS2_EASY_MODE', '127.0.0.1')
         self.domain = 42
         self.third_attr = '127.0.0.1'
         self.check_command = [str(command_to_int[Command.AUTO]), '-d', '42', '127.0.0.1:42']
         mock_rpc_nbrequest.side_effect = self.side_effect_rpc
 
-        # The parser is not responsible of adding the EASY_MODE argument to the command. This is done in Fast DDS.
-        # The parser only checks if the EASY_MODE variable is set to pass it to the RPC server as third argument
+        # The parser is not responsible of adding the ROS2_EASY_MODE argument to the command. This is done in Fast DDS.
+        # The parser only checks if the ROS2_EASY_MODE variable is set to pass it to the RPC server as third argument
         argv = ['auto', '-d', '42', '127.0.0.1:42']
         parser = Parser(argv)
 

tools/fastdds/discovery/fastdds_daemon/process_handler/process_handler.py

@@ -47,7 +47,7 @@ def _get_signal(self, sig: int):
     def run_process_nb(self, domain: int, command: list, easy_mode: str):
         """
         Used for starting new servers. Commands 'start' and 'auto'.
-        If @easy_mode is empty, it means the 'EASY_MODE' variable was not set, that is,
+        If @easy_mode is empty, it means the 'ROS2_EASY_MODE' variable was not set, that is,
         it is a direct call from the CLI.
         Note that 'easy_mode' has already been added to the command string in the parser,
         it is only used here to avoid using regex to find its value and differentiate

tools/fastdds/discovery/parser.py

@@ -40,7 +40,7 @@
 
 DOMAIN_ENV_VAR = "ROS_DOMAIN_ID"
 REMOTE_SERVERS_ENV_VAR = "ROS_STATIC_PEERS"
-EASY_MODE_ENV_VAR = "EASY_MODE"
+EASY_MODE_ENV_VAR = "ROS2_EASY_MODE"
 
 class Command(Enum):
     SERVER = "server" # Does not need to be specified
@@ -338,7 +338,7 @@ def __add_remote_servers_to_args(self, args) -> None:
 
     def __get_easy_mode_from_env(self) -> str:
         """
-        Obtain the value present in 'EASY_MODE' from the environment.
+        Obtain the value present in 'ROS2_EASY_MODE' from the environment.
         """
         value = None
         value = os.getenv(EASY_MODE_ENV_VAR)

versions.md

@@ -14,7 +14,7 @@ Forthcoming
 * Refactor benchmark example.
 * Extended CLI ``shm`` command with ``-f`` param to clean Data Sharing segments.
 * New Easy Mode:
-  * New `EASY_MODE` environment variable
+  * New `ROS2_EASY_MODE` environment variable
   * Extended CLI ``discovery`` command to handle Fast DDS daemon.
   * Added P2P builtin transport.