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[22427] Fast DDS EASY_MODE - Feature - XMLRPC Server #5551

Merged
merged 23 commits into from
Jan 22, 2025
Merged

[22427] Fast DDS EASY_MODE - Feature - XMLRPC Server #5551

merged 23 commits into from
Jan 22, 2025

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cferreiragonz
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@cferreiragonz cferreiragonz commented Jan 8, 2025 •
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Description

This PR implements the Fast DDS Auto Discovery Server Mode feature in Fast DDS.

  • It updates the RTPSDomain to parse the new environment variable EASY_MODE and properly configure the RTPSParticipant to point to a local UDP Discovery Server.
  • It adds a new builtin transport: P2P, targeting the new mode. It instantiates TCP and SHM transport for user data and UDP for metatrafficUnicast, relying on a Discovery Server for discovery purposes.
  • It add a new class SystemCommandBuilder to build and make system calls within Fast DDS.

Contributor Checklist

  • Commit messages follow the project guidelines.
  • The code follows the style guidelines of this project.
  • Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
  • Any new/modified methods have been properly documented using Doxygen.
  • Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
  • Changes are backport compatible: they do NOT break ABI nor change library core behavior.
  • Changes are API compatible.
  • New feature has been added to the versions.md file (if applicable).
  • New feature has been documented/Current behavior is correctly described in the documentation.
  • Applicable backports have been included in the description.

Reviewer Checklist

  • The PR has a milestone assigned.
  • The title and description correctly express the PR's purpose.
  • Check contributor checklist is correct.
  • If this is a critical bug fix, backports to the critical-only supported branches have been requested.
  • Check CI results: changes do not issue any warning.
  • Check CI results: failing tests are unrelated with the changes.

@github-actions github-actions bot added the ci-pending PR which CI is running label Jan 8, 2025
@cferreiragonz cferreiragonz force-pushed the feature/fastdds-impl/auto_ds_daemonized branch from 4df67d4 to 1d15ef7 Compare January 8, 2025 13:58
@cferreiragonz cferreiragonz requested review from richiprosima and removed request for richiprosima January 8, 2025 13:58
@cferreiragonz cferreiragonz changed the base branch from master to feature/auto_ds_daemonized January 8, 2025 14:02
@cferreiragonz cferreiragonz added doc-pending Issue or PR which is pending to be documented versions-pending needs-review PR that is ready to be reviewed labels Jan 8, 2025
@cferreiragonz cferreiragonz force-pushed the feature/auto_ds_daemonized branch 3 times, most recently from e7c0a85 to 6465cd4 Compare January 10, 2025 09:38
@Mario-DL Mario-DL mentioned this pull request Jan 10, 2025
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@Mario-DL Mario-DL force-pushed the feature/fastdds-impl/auto_ds_daemonized branch from 5fdf099 to 96ef6db Compare January 10, 2025 10:28
@cferreiragonz cferreiragonz force-pushed the feature/fastdds-impl/auto_ds_daemonized branch from 5a156eb to 89506ac Compare January 13, 2025 15:37
@cferreiragonz cferreiragonz requested review from richiprosima and removed request for richiprosima January 14, 2025 07:24
@cferreiragonz cferreiragonz force-pushed the feature/auto_ds_daemonized branch from 55a05c7 to 308bc53 Compare January 15, 2025 13:50
@cferreiragonz cferreiragonz force-pushed the feature/fastdds-impl/auto_ds_daemonized branch from 353bcec to 5917ac4 Compare January 15, 2025 13:58
@cferreiragonz cferreiragonz force-pushed the feature/auto_ds_daemonized branch from 308bc53 to b03c362 Compare January 15, 2025 14:18
@cferreiragonz cferreiragonz force-pushed the feature/fastdds-impl/auto_ds_daemonized branch 3 times, most recently from 6f8ddb5 to 351c441 Compare January 15, 2025 16:09
@cferreiragonz cferreiragonz requested review from richiprosima and removed request for richiprosima January 15, 2025 16:10
@cferreiragonz cferreiragonz force-pushed the feature/auto_ds_daemonized branch from b03c362 to e89400a Compare January 16, 2025 10:16
Mario-DL and others added 12 commits January 21, 2025 16:03
@Mario-DL @cferreiragonz
Refs #22427: SystemCommandBuilder class
96c969a 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22427: Feature Impl
75dcb3c 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22427: Fix tests compilation in all platforms
b8b92b6 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22427: Apply Carlo's review
011f636 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22427: stop background servers with stop instead of shutdown in…
25da959 
… BB tests

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@cferreiragonz
Refs #22427: Update banner
bfb0f09 
Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Rename DS_AUTO transport to P2P
f61d7c2 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Refactor BB tests with EASY_MODE
f2526e1 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Refactor feature impl with EASY_MODE
42c81ad 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Distinguish Log error if the EASY_MODE IP conflicts with…
58aecdd 
… a previous one

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Review NIT
bf38f09 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Feature use UDP for metatraffic
dd8de87 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL Mario-DL force-pushed the feature/fastdds-impl/auto_ds_daemonized branch from 36b4d48 to 71ac0df Compare January 21, 2025 15:45
@Mario-DL Mario-DL requested review from Mario-DL and removed request for Mario-DL January 21, 2025 15:46
Mario-DL and others added 5 commits January 21, 2025 22:11
@Mario-DL @cferreiragonz
Refs #22627: UDP metatraffic Cli
579c4b2 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Feature with UDP BB tests
b1ccdfb 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Remove unsued line
7d24ce0 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@cferreiragonz
Refs #22627: Feature with UDP CLI tests
4d306f0 
Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
@Mario-DL @cferreiragonz
Refs #22627: Avoid macro collision in MacOS
092b595 
Signed-off-by: Mario Domínguez López <mariodominguez@eprosima.com>
@cferreiragonz cferreiragonz force-pushed the feature/fastdds-impl/auto_ds_daemonized branch from 71ac0df to 092b595 Compare January 21, 2025 21:13
@cferreiragonz cferreiragonz requested review from richiprosima and removed request for richiprosima January 21, 2025 21:14
Mario-DL
Mario-DL approved these changes Jan 22, 2025
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LGTM, nice work @cferreiragonz 🥇

@Mario-DL Mario-DL merged commit d396e9a into feature/auto_ds_daemonized Jan 22, 2025
16 of 17 checks passed
@Mario-DL Mario-DL deleted the feature/fastdds-impl/auto_ds_daemonized branch January 22, 2025 06:52
@cferreiragonz cferreiragonz removed needs-review PR that is ready to be reviewed ci-pending PR which CI is running labels Jan 22, 2025
cferreiragonz added a commit that referenced this pull request Jan 22, 2025
@cferreiragonz @Mario-DL
Fast DDS EASY_MODE - Feature - XMLRPC Server (#5551)
e4307ab 
* 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>
Mario-DL added a commit that referenced this pull request Jan 23, 2025
@cferreiragonz @Mario-DL
Feature: Fast DDS ROS2_EASY_MODE (#5548)
2923161 
* 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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