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Feature: Fast DDS ROS2_EASY_MODE (#5548)
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* Refs #22013: Add new port offset

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

* Refs #22013: Add CLI keywords architecture

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

* Refs #22106: Python -h/-e args

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

* Refs #22106: 'getDiscoveryServerPort'

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

* Refs #22106: Parse options in main

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

* Refs #22106: Domain (-d) arg

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

* Refs #22106: Justify Help message

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

* Refs #22106: Create CliDiscoveryManager & remove server.cpp

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

* Refs #22106: LIST keyword

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

* Refs #22106: AUTO keyword

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

* Refs #22106: STOP keyword

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

* Refs #22106: Update server tests

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

* Refs #22106: Refactor SERVER behavior

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

* Refs #22106: ADD keyword

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

* Refs #22106: Parse ROS_STATIC_PEERS

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

* Refs #22106: SET keyword & minor fixes

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

* Refs #22106: Uncrustify

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

* Refs #22106: Remove debug log

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

* Refs #22106: START keyword & doxygen

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

* Refs #22106: print Domain ID

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

* Refs #22106: Unittests

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

* Refs #22106: Add SHM transport

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

* Refs #22106: Make arguments const

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

* Refs #22106: Use data_sharing directory

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

* Refs #22106: Use Logs in CLI

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

* Refs #22106: Support Windows & Mac commands

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

* Refs #22106: Uncrustify

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

* Refs #22106: Protect std::stoi & Add server name

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

* Refs #22106: Fix MacOS build

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22106: Fix Windows build

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

* Refs #22106: Add help/examples tests

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

* Refs #22106: Rearrange methods to simplify windows def

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

* Refs #22106: Workaround to solve Mac Tests

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

* Refs #22106: Minor fixes

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

* Refs #22518: Add Fast DDS XML-RPC Daemon

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

* Refs #22518: Test enum

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

* Refs #22518: Cancel fork in cpp tool

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

* Refs #22518: Add parser tests

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

* Refs #22518: Apply Revision

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

* Refs #22518: Review - Use stop to shutdown server

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

* Refs #22518: Apply Revision 2

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

* Refs #22623: Allow TCP reconnections

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

* Refs #22518: Fix build in Ubuntu24

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

* Refs #22627: Add EASY_MODE to parser

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

* Refs #22518: Improve unittest robustness

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

* Fast DDS EASY_MODE - Feature - XMLRPC Server (#5551)

* Refs #22352: Add preferred_domain_id to PubSubAPI

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22352: Refactor set_on_discovery_function in PubSubAPI

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22352: Add get_participants_matched() in PubSubAPI

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22352: Update BB tests with new APIs

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22352: Add Auto Discovery Mode BB tests

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: New DS_AUTO BuiltinTransport option

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: SystemCommandBuilder class

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: Feature Impl

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: Fix tests compilation in all platforms

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: Apply Carlo's review

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: stop background servers with stop instead of shutdown in BB tests

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22427: Update banner

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

* Refs #22627: Rename DS_AUTO transport to P2P

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Refactor BB tests with EASY_MODE

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Refactor feature impl with EASY_MODE

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Distinguish Log error if the EASY_MODE IP conflicts with a previous one

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Review NIT

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Feature use UDP for metatraffic

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: UDP metatraffic Cli

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Feature with UDP BB tests

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Remove unsued line

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: Feature with UDP CLI tests

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

* Refs #22627: Avoid macro collision in MacOS

Signed-off-by: Mario Domínguez López <mariodominguez@eprosima.com>

---------

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
Signed-off-by: Mario Domínguez López <mariodominguez@eprosima.com>
Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22627: logs, comments, versions, displays

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

* Refs #22627: Review - Logs

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

* Refs #22627: ROS2_EASY_MODE

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

---------

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Mario Domínguez López <mariodominguez@eprosima.com>
Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>
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@cferreiragonz @Mario-DL
cferreiragonz and Mario-DL authored Jan 23, 2025
1 parent e6e918f commit 2923161
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4 changes: 2 additions & 2 deletions .github/workflows/reusable-ubuntu-ci.yml
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Expand Up @@ -463,7 +463,7 @@ jobs:
- name: Install Python dependencies
uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
with:
packages: vcstool xmlschema
packages: vcstool xmlschema psutil

- name: Setup CCache
uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
Expand Down Expand Up @@ -650,7 +650,7 @@ jobs:
- name: Install Python dependencies
uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
with:
packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2
packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2 psutil

- name: Setup CCache
uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -603,7 +603,7 @@ option(INSTALL_TOOLS "Install tools" OFF)

if(INSTALL_TOOLS)
# Install tools
install(DIRECTORY ${PROJECT_SOURCE_DIR}/tools
install(DIRECTORY ${PROJECT_SOURCE_DIR}/tools/
DESTINATION tools
COMPONENT tools
PATTERN "tools/CMakeLists.txt" EXCLUDE
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10 changes: 7 additions & 3 deletions include/fastdds/rtps/attributes/BuiltinTransports.hpp
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Expand Up @@ -104,14 +104,15 @@ inline bool operator ==(
*/
enum class BuiltinTransports : uint16_t
{
NONE = 0, //< No transport will be instantiated
DEFAULT = 1, //< Default value that will instantiate UDPv4 and SHM transports
NONE = 0, //< No transport will be instantiated
DEFAULT = 1, //< Default value that will instantiate UDPv4 and SHM transports
DEFAULTv6 = 2, //< Instantiate UDPv6 and SHM transports
SHM = 3, //< Instantiate SHM transport only
UDPv4 = 4, //< Instantiate UDPv4 transport only
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
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 ROS2_EASY_MODE=<ip>
};

inline std::ostream& operator <<(
Expand Down Expand Up @@ -144,6 +145,9 @@ inline std::ostream& operator <<(
case BuiltinTransports::LARGE_DATAv6:
output << "LARGE_DATAv6";
break;
case BuiltinTransports::P2P:
output << "P2P";
break;
default:
output << "UNKNOWN";
break;
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30 changes: 29 additions & 1 deletion include/fastdds/rtps/common/PortParameters.hpp
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Expand Up @@ -42,6 +42,7 @@ class PortParameters
, offsetd1(10)
, offsetd2(1)
, offsetd3(11)
, offsetd4(2)
{
}

Expand All @@ -58,7 +59,8 @@ class PortParameters
(this->offsetd0 == b.offsetd0) &&
(this->offsetd1 == b.offsetd1) &&
(this->offsetd2 == b.offsetd2) &&
(this->offsetd3 == b.offsetd3);
(this->offsetd3 == b.offsetd3) &&
(this->offsetd4 == b.offsetd4);
}

/**
Expand Down Expand Up @@ -111,6 +113,30 @@ class PortParameters
return port;
}

/**
* Get a discovery server port based on the domain ID.
*
* @param domainId Domain ID.
* @return Discovery server port
*/
inline uint16_t get_discovery_server_port(
uint32_t domainId) const
{
uint32_t port = portBase + domainIDGain * domainId + offsetd4;

if (port > 65535)
{
EPROSIMA_LOG_ERROR(RTPS, "Calculated port number is too high. Probably the domainId is over 232 "
<< "or portBase is too high.");
std::cout << "Calculated port number is too high. Probably the domainId is over 232 "
<< "or portBase is too high." << std::endl;
std::cout.flush();
exit(EXIT_FAILURE);
}

return static_cast<uint16_t>(port);
}

public:

//!PortBase, default value 7400.
Expand All @@ -127,6 +153,8 @@ class PortParameters
uint16_t offsetd2;
//!Offset d3, default value 11.
uint16_t offsetd3;
//!Offset d4, default value 2.
uint16_t offsetd4;
};

} // namespace rtps
Expand Down
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5 changes: 4 additions & 1 deletion resources/xsd/fastdds_profiles.xsd
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Expand Up @@ -816,7 +816,8 @@
├ offsetd0 [uint16],
├ offsetd1 [uint16],
├ offsetd2 [uint16],
└ offsetd3 [uint16] -->
├ offsetd3 [uint16],
└ offsetd4 [uint16] -->
<xs:complexType name="portType">
<xs:all>
<xs:element name="portBase" type="uint16" minOccurs="0" maxOccurs="1"/>
Expand All @@ -826,6 +827,7 @@
<xs:element name="offsetd1" type="uint16" minOccurs="0" maxOccurs="1"/>
<xs:element name="offsetd2" type="uint16" minOccurs="0" maxOccurs="1"/>
<xs:element name="offsetd3" type="uint16" minOccurs="0" maxOccurs="1"/>
<xs:element name="offsetd4" type="uint16" minOccurs="0" maxOccurs="1"/>
</xs:all>
</xs:complexType>

Expand Down Expand Up @@ -1961,6 +1963,7 @@
<xs:enumeration value="UDPv6" />
<xs:enumeration value="LARGE_DATA" />
<xs:enumeration value="LARGE_DATAv6" />
<xs:enumeration value="P2P" />
</xs:restriction>
</xs:simpleType>

Expand Down
162 changes: 116 additions & 46 deletions src/cpp/rtps/RTPSDomain.cpp
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Expand Up @@ -50,6 +50,7 @@
#include <rtps/transport/UDPv6Transport.h>
#include <rtps/writer/BaseWriter.hpp>
#include <utils/Host.hpp>
#include <utils/SystemCommandBuilder.hpp>
#include <utils/SystemInfo.hpp>
#include <xmlparser/XMLProfileManager.h>

Expand Down Expand Up @@ -518,59 +519,128 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
// Is up to the caller guarantee the att argument is not modified during the call
RTPSParticipantAttributes client_att(att);

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

// 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))
if (easy_mode_env_value.empty())
{
// 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));
}
// 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;
}

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

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);
Expand Down
45 changes: 42 additions & 3 deletions src/cpp/rtps/attributes/RTPSParticipantAttributes.cpp
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Expand Up @@ -301,6 +301,38 @@ static void setup_transports_large_datav6(
}
}

static void setup_transports_p2p(
RTPSParticipantAttributes& att,
bool intraprocess_only,
const fastdds::rtps::BuiltinTransportsOptions& options)
{
if (!intraprocess_only)
{
setup_large_data_shm_transport(att, options);

auto tcp_transport = create_tcpv4_transport(att, options);
att.userTransports.push_back(tcp_transport);

Locator_t tcp_loc;
tcp_loc.kind = LOCATOR_KIND_TCPv4;
IPLocator::setIPv4(tcp_loc, "0.0.0.0");
IPLocator::setPhysicalPort(tcp_loc, 0);
IPLocator::setLogicalPort(tcp_loc, 0);
att.defaultUnicastLocatorList.push_back(tcp_loc);
}

auto udp_descriptor = create_udpv4_transport(att, intraprocess_only, options);
att.userTransports.push_back(udp_descriptor);

if (!intraprocess_only)
{
Locator_t udp_locator;
udp_locator.kind = LOCATOR_KIND_UDPv4;
IPLocator::setIPv4(udp_locator, "127.0.0.1");
att.builtin.metatrafficUnicastLocatorList.push_back(udp_locator);
}
}

void RTPSParticipantAttributes::setup_transports(
fastdds::rtps::BuiltinTransports transports,
const fastdds::rtps::BuiltinTransportsOptions& options)
Expand All @@ -309,7 +341,8 @@ void RTPSParticipantAttributes::setup_transports(
(transports != fastdds::rtps::BuiltinTransports::NONE &&
transports != fastdds::rtps::BuiltinTransports::SHM &&
transports != fastdds::rtps::BuiltinTransports::LARGE_DATA &&
transports != fastdds::rtps::BuiltinTransports::LARGE_DATAv6))
transports != fastdds::rtps::BuiltinTransports::LARGE_DATAv6 &&
transports != fastdds::rtps::BuiltinTransports::P2P))
{
EPROSIMA_LOG_ERROR(RTPS_PARTICIPANT,
"Max message size of UDP cannot be greater than " << std::to_string(
Expand Down Expand Up @@ -347,17 +380,23 @@ void RTPSParticipantAttributes::setup_transports(
break;

case fastdds::rtps::BuiltinTransports::LARGE_DATA:
// This parameter will allow allow the initialization of UDP transports with maxMessageSize > 65500 KB (s_maximumMessageSize)
// This parameter will allow the initialization of UDP transports with maxMessageSize > 65500 KB (s_maximumMessageSize)
max_msg_size_no_frag = options.maxMessageSize;
setup_transports_large_data(*this, intraprocess_only, options);
break;

case fastdds::rtps::BuiltinTransports::LARGE_DATAv6:
// This parameter will allow allow the initialization of UDP transports with maxMessageSize > 65500 KB (s_maximumMessageSize)
// This parameter will allow the initialization of UDP transports with maxMessageSize > 65500 KB (s_maximumMessageSize)
max_msg_size_no_frag = options.maxMessageSize;
setup_transports_large_datav6(*this, intraprocess_only, options);
break;

case fastdds::rtps::BuiltinTransports::P2P:
// This parameter will allow the initialization of UDP transports with maxMessageSize > 65500 KB (s_maximumMessageSize)
max_msg_size_no_frag = options.maxMessageSize;
setup_transports_p2p(*this, intraprocess_only, options);
break;

default:
EPROSIMA_LOG_ERROR(RTPS_PARTICIPANT,
"Setup for '" << transports << "' transport configuration not yet supported.");
Expand Down
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