[22872] Configure ROS 2 Easy Mode via C++ and XML

include/fastdds/dds/core/policy/QosPolicies.hpp

@@ -23,19 +23,20 @@
 #include <bitset>
 #include <vector>
 
+#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/dds/core/Types.hpp>
 #include <fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobject.hpp>
 #include <fastdds/rtps/attributes/ExternalLocators.hpp>
 #include <fastdds/rtps/attributes/PropertyPolicy.hpp>
+#include <fastdds/rtps/attributes/ResourceManagement.hpp>
 #include <fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.hpp>
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.hpp>
 #include <fastdds/rtps/attributes/ThreadSettings.hpp>
 #include <fastdds/rtps/common/LocatorList.hpp>
 #include <fastdds/rtps/common/Time_t.hpp>
 #include <fastdds/rtps/common/Types.hpp>
 #include <fastdds/rtps/flowcontrol/FlowControllerConsts.hpp>
-#include <fastdds/rtps/attributes/ResourceManagement.hpp>
 #include <fastdds/rtps/transport/network/NetmaskFilterKind.hpp>
 
 #include <fastdds/utils/collections/ResourceLimitedVector.hpp>
@@ -2664,6 +2665,7 @@ class WireProtocolConfigQos : public QosPolicy
     FASTDDS_EXPORTED_API WireProtocolConfigQos()
         : QosPolicy(false)
         , participant_id(-1)
+        , easy_mode_("")
     {
     }
 
@@ -2683,6 +2685,7 @@ class WireProtocolConfigQos : public QosPolicy
                (this->default_multicast_locator_list == b.default_multicast_locator_list) &&
                (this->default_external_unicast_locators == b.default_external_unicast_locators) &&
                (this->ignore_non_matching_locators == b.ignore_non_matching_locators) &&
+               (this->easy_mode_ == b.easy_mode()) &&
                QosPolicy::operator ==(b);
     }
 
@@ -2725,6 +2728,51 @@ class WireProtocolConfigQos : public QosPolicy
      * Whether locators that don't match with the announced locators should be kept.
      */
     bool ignore_non_matching_locators = false;
+
+    /**
+     * @brief Setter for ROS 2 Easy Mode IP
+     *
+     * @param ip IP address to set
+     * @note The IP address must be an IPv4 address. If it is not, the IP address will not be set.
+     *
+     * @return RETCODE_OK if the IP address is set, an specific error code otherwise:
+     * RETCODE_BAD_PARAMETER if the IP address is not an IPv4 address.
+     */
+    ReturnCode_t easy_mode(
+            const std::string& ip)
+    {
+        // Check if the input is empty
+        if (!ip.empty())
+        {
+            // Check if the input is a valid IP
+            if (!rtps::IPLocator::isIPv4(ip))
+            {
+                EPROSIMA_LOG_ERROR(
+                    WIREPROTOCOLQOS, "Invalid IP address format for ROS 2 Easy Mode. It must be an IPv4 address.");
+
+                return RETCODE_BAD_PARAMETER;
+            }
+        }
+
+        easy_mode_ = ip;
+
+        return RETCODE_OK;
+    }
+
+    /**
+     * @brief Getter for ROS 2 Easy Mode IP
+     *
+     * @return IP address if set, empty string otherwise
+     */
+    const std::string& easy_mode() const
+    {
+        return easy_mode_;
+    }
+
+private:
+
+    //! ROS 2 Easy Mode IP
+    std::string easy_mode_;
 };
 
 //! Qos Policy to configure the transport layer

include/fastdds/rtps/attributes/RTPSParticipantAttributes.hpp

@@ -444,6 +444,7 @@ class RTPSParticipantAttributes
                (this->port == b.port) &&
                (this->userData == b.userData) &&
                (this->participantID == b.participantID) &&
+               (this->easy_mode_ip == b.easy_mode_ip) &&
                (this->useBuiltinTransports == b.useBuiltinTransports) &&
                (this->properties == b.properties) &&
                (this->prefix == b.prefix) &&
@@ -527,6 +528,9 @@ class RTPSParticipantAttributes
     //! Participant ID
     int32_t participantID = -1;
 
+    //! IP of the Host where master Server is located (EASY_MODE context)
+    std::string easy_mode_ip = "";
+
     //! User defined transports to use alongside or in place of builtins.
     std::vector<std::shared_ptr<fastdds::rtps::TransportDescriptorInterface>> userTransports;
 

resources/xsd/fastdds_profiles.xsd

@@ -131,6 +131,7 @@
             ├ builtin                              [0~1],
             ├ port                                 [0~1],
             ├ participantID                        [int32],
+            ├ easy_mode_ip                         [string],
             ├ userTransports                       [0~1],
             |   └ transport_id                     [1~*] [string],
             ├ useBuiltinTransports                 [bool],
@@ -172,6 +173,7 @@
                         <xs:element name="builtin" type="builtinAttributesType" minOccurs="0" maxOccurs="1"/>
                         <xs:element name="port" type="portType" minOccurs="0" maxOccurs="1"/>
                         <xs:element name="participantID" type="int32" minOccurs="0" maxOccurs="1"/>
+                        <xs:element name="easy_mode_ip" type="string" minOccurs="0" maxOccurs="1"/>
                         <xs:element name="userTransports" minOccurs="0" maxOccurs="1">
                             <xs:complexType>
                                 <xs:sequence>

src/cpp/fastdds/utils/QosConverters.cpp

@@ -148,6 +148,7 @@ void set_qos_from_attributes(
     qos.wire_protocol().default_multicast_locator_list = attr.defaultMulticastLocatorList;
     qos.wire_protocol().default_external_unicast_locators = attr.default_external_unicast_locators;
     qos.wire_protocol().ignore_non_matching_locators = attr.ignore_non_matching_locators;
+    qos.wire_protocol().easy_mode(attr.easy_mode_ip);
     qos.transport().user_transports = attr.userTransports;
     qos.transport().use_builtin_transports = attr.useBuiltinTransports;
     qos.transport().send_socket_buffer_size = attr.sendSocketBufferSize;
@@ -198,6 +199,7 @@ void set_attributes_from_qos(
     attr.setName(qos.name());
     attr.prefix = qos.wire_protocol().prefix;
     attr.participantID = qos.wire_protocol().participant_id;
+    attr.easy_mode_ip = qos.wire_protocol().easy_mode();
     attr.builtin = qos.wire_protocol().builtin;
     attr.port = qos.wire_protocol().port;
     attr.defaultUnicastLocatorList = qos.wire_protocol().default_unicast_locator_list;

src/cpp/rtps/attributes/ServerAttributes.cpp

@@ -73,6 +73,20 @@ const std::string& ros_easy_mode_env()
 {
     static std::string ip_value;
     SystemInfo::get_env(ROS2_EASY_MODE_URI, ip_value);
+
+    if (!ip_value.empty())
+    {
+        // Check that the value is a valid IPv4 address
+        if (!IPLocator::isIPv4(ip_value))
+        {
+            EPROSIMA_LOG_WARNING(
+                SERVERATTRIBUTES,
+                "Invalid format: Easy Mode IP must be a valid IPv4 address. "
+                "Ignoring " << ROS2_EASY_MODE_URI << " value.");
+
+            ip_value = "";
+        }
+    }
     return ip_value;
 }
 

src/cpp/rtps/attributes/ServerAttributes.hpp

@@ -198,7 +198,8 @@ const std::string& ros_discovery_server_env();
 
 /**
  * Get the value of environment variable ROS2_EASY_MODE_URI
- * @return The value of environment variable ROS2_EASY_MODE_URI. Empty string if the variable is not defined.
+ * @return The value of environment variable ROS2_EASY_MODE_URI.
+ * Empty string if the variable is not defined or does not have a valid IPv4 format.
  */
 const std::string& ros_easy_mode_env();
 

src/cpp/xmlparser/XMLParser.cpp

@@ -2230,27 +2230,55 @@ XMLP_ret XMLParser::fillDataNode(
         DataNode<fastdds::xmlparser::ParticipantAttributes>& participant_node)
 {
     /*
-        <xs:complexType name="rtpsParticipantAttributesType">
-            <xs:all minOccurs="0">
-                <xs:element name="domainId" type="uint32Type" minOccurs="0"/>
-                <xs:element name="allocation" type="rtpsParticipantAllocationAttributesType" minOccurs="0"/>
-                <xs:element name="prefix" type="guid" minOccurs="0"/>
-                <xs:element name="default_external_unicast_locators" type="externalLocatorListType" minOccurs="0"/>
-                <xs:element name="ignore_non_matching_locators" type="boolType" minOccurs="0"/>
-                <xs:element name="defaultUnicastLocatorList" type="locatorListType" minOccurs="0"/>
-                <xs:element name="defaultMulticastLocatorList" type="locatorListType" minOccurs="0"/>
-                <xs:element name="sendSocketBufferSize" type="uint32Type" minOccurs="0"/>
-                <xs:element name="listenSocketBufferSize" type="uint32Type" minOccurs="0"/>
-                <xs:element name="netmask_filter" type="netmaskFilterType" minOccurs="0" maxOccurs="1"/>
-                <xs:element name="builtin" type="builtinAttributesType" minOccurs="0"/>
-                <xs:element name="port" type="portType" minOccurs="0"/>
-                <xs:element name="userData" type="octetVectorType" minOccurs="0"/>
-                <xs:element name="participantID" type="int32Type" minOccurs="0"/>
-                <xs:element name="flow_controller_descriptors" type="flowControllerDescriptorsType" minOccurs="0"/>
-                <xs:element name="userTransports" type="stringListType" minOccurs="0"/>
-                <xs:element name="useBuiltinTransports" type="boolType" minOccurs="0"/>
-                <xs:element name="propertiesPolicy" type="propertyPolicyType" minOccurs="0"/>
-                <xs:element name="name" type="stringType" minOccurs="0"/>
+        <xs:complexType name="participantProfileType">
+            <xs:all>
+                <xs:element name="domainId" type="domainIDType" minOccurs="0" maxOccurs="1"/>
+                <xs:element name="rtps" minOccurs="0" maxOccurs="1">
+                    <xs:complexType>
+                        <xs:all>
+                            <xs:element name="name" type="string" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="defaultUnicastLocatorList" type="locatorListType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="defaultMulticastLocatorList" type="locatorListType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="default_external_unicast_locators" type="externalLocatorListType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="ignore_non_matching_locators" type="boolean" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="sendSocketBufferSize" type="uint32" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="listenSocketBufferSize" type="uint32" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="netmask_filter" minOccurs="0" maxOccurs="1">
+                                <xs:simpleType>
+                                    <xs:restriction base="xs:string">
+                                        <xs:enumeration value="OFF"/>
+                                        <xs:enumeration value="AUTO"/>
+                                        <xs:enumeration value="ON"/>
+                                    </xs:restriction>
+                                </xs:simpleType>
+                            </xs:element>
+                            <xs:element name="builtin" type="builtinAttributesType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="port" type="portType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="participantID" type="int32" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="easy_mode_ip" type="string" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="userTransports" minOccurs="0" maxOccurs="1">
+                                <xs:complexType>
+                                    <xs:sequence>
+                                        <xs:element name="transport_id" type="string" minOccurs="1" maxOccurs="unbounded"/>
+                                    </xs:sequence>
+                                </xs:complexType>
+                            </xs:element>
+                            <xs:element name="useBuiltinTransports" type="boolean" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="builtinTransports" type="builtinTransportsType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="propertiesPolicy" type="propertyPolicyType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="allocation" type="rtpsParticipantAllocationAttributesType"  minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="userData" type="octectVectorQosPolicyType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="prefix" type="prefixType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="flow_controller_descriptor_list" type="flowControllerDescriptorListType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="builtin_controllers_sender_thread" type="threadSettingsType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="timed_events_thread" type="threadSettingsType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="discovery_server_thread" type="threadSettingsType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="typelookup_service_thread" type="threadSettingsType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="builtin_transports_reception_threads" type="threadSettingsType" minOccurs="0" maxOccurs="1"/>
+                            <xs:element name="security_log_thread" type="threadSettingsType" minOccurs="0" maxOccurs="1"/>
+                        </xs:all>
+                    </xs:complexType>
+                </xs:element>
             </xs:all>
         </xs:complexType>
      */
@@ -2286,7 +2314,7 @@ XMLP_ret XMLParser::fillDataNode(
 
         if (strcmp(p_element->Name(), DOMAIN_ID) == 0)
         {
-            // domainId - uint32Type
+            // domainId - uint32
             if (XMLP_ret::XML_OK != getXMLUint(p_element, &participant_node.get()->domainId, ident))
             {
                 return XMLP_ret::XML_ERROR;
@@ -2343,7 +2371,7 @@ XMLP_ret XMLParser::fillDataNode(
         }
         else if (strcmp(name, IGN_NON_MATCHING_LOCS) == 0)
         {
-            // ignore_non_matching_locators - boolType
+            // ignore_non_matching_locators - boolean
             if (XMLP_ret::XML_OK !=
                     getXMLBool(p_aux0, &participant_node.get()->rtps.ignore_non_matching_locators, ident))
             {
@@ -2380,15 +2408,15 @@ XMLP_ret XMLParser::fillDataNode(
         }
         else if (strcmp(name, SEND_SOCK_BUF_SIZE) == 0)
         {
-            // sendSocketBufferSize - uint32Type
+            // sendSocketBufferSize - uint32
             if (XMLP_ret::XML_OK != getXMLUint(p_aux0, &participant_node.get()->rtps.sendSocketBufferSize, ident))
             {
                 return XMLP_ret::XML_ERROR;
             }
         }
         else if (strcmp(name, LIST_SOCK_BUF_SIZE) == 0)
         {
-            // listenSocketBufferSize - uint32Type
+            // listenSocketBufferSize - uint32
             if (XMLP_ret::XML_OK != getXMLUint(p_aux0, &participant_node.get()->rtps.listenSocketBufferSize, ident))
             {
                 return XMLP_ret::XML_ERROR;
@@ -2440,12 +2468,30 @@ XMLP_ret XMLParser::fillDataNode(
         }
         else if (strcmp(name, PART_ID) == 0)
         {
-            // participantID - int32Type
+            // participantID - int32
             if (XMLP_ret::XML_OK != getXMLInt(p_aux0, &participant_node.get()->rtps.participantID, ident))
             {
                 return XMLP_ret::XML_ERROR;
             }
         }
+        else if (strcmp(name, EASY_MODE_IP) == 0)
+        {
+            // easy_mode_ip - string
+            std::string str_aux;
+            if (XMLP_ret::XML_OK != getXMLString(p_aux0, &str_aux, ident))
+            {
+                return XMLP_ret::XML_ERROR;
+            }
+
+            // Check that the string is a valid IPv4 address
+            if (!fastdds::rtps::IPLocator::isIPv4(str_aux))
+            {
+                EPROSIMA_LOG_ERROR(XMLPARSER, "'easy_mode_ip' is not a valid IPv4 address.");
+                return XMLP_ret::XML_ERROR;
+            }
+
+            participant_node.get()->rtps.easy_mode_ip = str_aux;
+        }
         else if (strcmp(name, FLOW_CONTROLLER_DESCRIPTOR_LIST) == 0)
         {
             // flow_controller_descriptors
@@ -2465,7 +2511,7 @@ XMLP_ret XMLParser::fillDataNode(
         }
         else if (strcmp(name, USE_BUILTIN_TRANS) == 0)
         {
-            // useBuiltinTransports - boolType
+            // useBuiltinTransports - boolean
             if (XMLP_ret::XML_OK != getXMLBool(p_aux0, &participant_node.get()->rtps.useBuiltinTransports, ident))
             {
                 return XMLP_ret::XML_ERROR;
@@ -2492,7 +2538,7 @@ XMLP_ret XMLParser::fillDataNode(
         }
         else if (strcmp(name, NAME) == 0)
         {
-            // name - stringType
+            // name - string
             std::string s;
             if (XMLP_ret::XML_OK != getXMLString(p_aux0, &s, ident))
             {

src/cpp/xmlparser/XMLParserCommon.cpp

@@ -123,6 +123,7 @@ const char* LOGICAL_PORT = "logical_port";
 const char* PHYSICAL_PORT = "physical_port";
 const char* USER_DATA = "userData";
 const char* PART_ID = "participantID";
+const char* EASY_MODE_IP = "easy_mode_ip";
 const char* FLOW_CONTROLLER_DESCRIPTOR_LIST = "flow_controller_descriptor_list";
 const char* USER_TRANS = "userTransports";
 const char* USE_BUILTIN_TRANS = "useBuiltinTransports";

src/cpp/xmlparser/XMLParserCommon.h

@@ -137,6 +137,7 @@ extern const char* LOGICAL_PORT;
 extern const char* PHYSICAL_PORT;
 extern const char* USER_DATA;
 extern const char* PART_ID;
+extern const char* EASY_MODE_IP;
 extern const char* IP4_TO_SEND;
 extern const char* IP6_TO_SEND;
 extern const char* FLOW_CONTROLLER_DESCRIPTOR_LIST;