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

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

@@ -2664,6 +2664,7 @@ class WireProtocolConfigQos : public QosPolicy
     FASTDDS_EXPORTED_API WireProtocolConfigQos()
         : QosPolicy(false)
         , participant_id(-1)
+        , easy_mode_("")
     {
     }
 
@@ -2683,6 +2684,7 @@ 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 +2727,28 @@ class WireProtocolConfigQos : public QosPolicy
      * Whether locators that don't match with the announced locators should be kept.
      */
     bool ignore_non_matching_locators = false;
+
+    /**
+     * Setter for ROS 2 Easy Mode IP
+     */
+    void easy_mode(
+            std::string ip)
+    {
+        easy_mode_ = ip;
+    }
+
+    /**
+     * Getter for ROS 2 Easy Mode IP
+     */
+    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;
 

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/xmlparser/XMLParser.cpp

@@ -2246,6 +2246,7 @@ XMLP_ret XMLParser::fillDataNode(
                 <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="easy_mode_ip" type="stringType" 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"/>
@@ -2446,6 +2447,14 @@ XMLP_ret XMLParser::fillDataNode(
                 return XMLP_ret::XML_ERROR;
             }
         }
+        else if (strcmp(name, EASY_MODE_IP) == 0)
+        {
+            // easy_mode_ip - stringType
+            if (XMLP_ret::XML_OK != getXMLString(p_aux0, &participant_node.get()->rtps.easy_mode_ip, ident))
+            {
+                return XMLP_ret::XML_ERROR;
+            }
+        }
         else if (strcmp(name, FLOW_CONTROLLER_DESCRIPTOR_LIST) == 0)
         {
             // flow_controller_descriptors

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;

test/mock/rtps/RTPSParticipantAttributes/fastdds/rtps/attributes/RTPSParticipantAttributes.hpp

@@ -433,6 +433,7 @@ 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) &&
@@ -553,6 +554,9 @@ 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;
 

test/unittest/xmlparser/XMLParserTests.cpp

@@ -543,6 +543,7 @@ TEST_F(XMLParserTests, Data)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -638,6 +639,7 @@ TEST_F(XMLParserTests, DataDeprecated)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -733,6 +735,7 @@ TEST_F(XMLParserTests, DataBuffer)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -828,6 +831,7 @@ TEST_F(XMLParserTests, DataBufferDeprecated)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -1862,6 +1866,7 @@ TEST_F(XMLParserTests, fillDataNodeParticipantNegativeClauses)
             "<builtin><bad_element></bad_element></builtin>",
             "<port><bad_element></bad_element></port>",
             "<participantID><bad_element></bad_element></participantID>",
+            "<easy_mode_ip><bad_element></bad_element></easy_mode_ip>",
             "<flow_controller_descriptor_list><bad_element></bad_element></flow_controller_descriptor_list>",
             "<userTransports><bad_element></bad_element></userTransports>",
             "<useBuiltinTransports><bad_element></bad_element></useBuiltinTransports>",

test/unittest/xmlparser/XMLProfileParserTests.cpp

@@ -136,7 +136,7 @@ class XMLProfileParserTests : public XMLProfileParserBasicTests, public testing:
 
     std::string xml_filename_ = "test_xml_profile.xml";
 
-    const std::pair<std::string, std::string> c_environment_values_[168]
+    const std::pair<std::string, std::string> c_environment_values_[169]
     {
         {"XML_PROFILES_ENV_VAR_1",   "123"},
         {"XML_PROFILES_ENV_VAR_2",   "4"},
@@ -305,7 +305,8 @@ class XMLProfileParserTests : public XMLProfileParserBasicTests, public testing:
         {"XML_PROFILES_ENV_VAR_165", "2048"},
         {"XML_PROFILES_ENV_VAR_166",  "45"},
         {"XML_PROFILES_ENV_VAR_167",  "test_flow_controller"},
-        {"XML_PROFILES_ENV_VAR_168",  "251"}
+        {"XML_PROFILES_ENV_VAR_168",  "251"},
+        {"XML_PROFILES_ENV_VAR_169",  "127.0.0.1"}
     };
 
 };
@@ -568,6 +569,7 @@ TEST_P(XMLProfileParserTests, XMLParserParticipant)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -669,6 +671,7 @@ TEST_F(XMLProfileParserBasicTests, XMLParserParticipantDeprecated)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -753,6 +756,7 @@ TEST_P(XMLProfileParserTests, XMLParserDefaultParticipantProfile)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);
@@ -837,6 +841,7 @@ TEST_F(XMLProfileParserBasicTests, XMLParserDefaultParticipantProfileDeprecated)
     EXPECT_EQ(port.offsetd3, 456);
     EXPECT_EQ(port.offsetd4, 251);
     EXPECT_EQ(rtps_atts.participantID, 9898);
+    EXPECT_EQ(rtps_atts.easy_mode_ip, "127.0.0.1");
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->max_bytes_per_period, 2048);
     EXPECT_EQ(rtps_atts.flow_controllers.at(0)->period_ms, 45u);
     EXPECT_EQ(rtps_atts.useBuiltinTransports, true);

test/unittest/xmlparser/test_xml_deprecated.xml

@@ -144,6 +144,7 @@
                     <offsetd4>251</offsetd4>
                 </port>
                 <participantID>9898</participantID>
+                <easy_mode_ip>127.0.0.1</easy_mode_ip>
                 <flow_controller_descriptor_list>
                     <flow_controller_descriptor>
                         <name>test_flow_controller</name>

test/unittest/xmlparser/test_xml_profile.xml

@@ -163,6 +163,7 @@
                     <offsetd4>251</offsetd4>
                 </port>
                 <participantID>9898</participantID>
+                <easy_mode_ip>127.0.0.1</easy_mode_ip>
                 <useBuiltinTransports>true</useBuiltinTransports>
                 <netmask_filter>ON</netmask_filter>
                 <name>test_name</name>

test/unittest/xmlparser/test_xml_profile_env_var.xml

@@ -144,6 +144,7 @@
                     <offsetd4>${XML_PROFILES_ENV_VAR_168}</offsetd4>
                 </port>
                 <participantID>${XML_PROFILES_ENV_VAR_63}</participantID>
+                <easy_mode_ip>${XML_PROFILES_ENV_VAR_169}</easy_mode_ip>
                 <useBuiltinTransports>${XML_PROFILES_ENV_VAR_64}</useBuiltinTransports>
                 <netmask_filter>${XML_PROFILES_ENV_VAR_162}</netmask_filter>
                 <name>${XML_PROFILES_ENV_VAR_65}</name>

test/unittest/xmlparser/test_xml_rooted_deprecated.xml

@@ -117,6 +117,7 @@
                     <offsetd4>251</offsetd4>
                 </port>
                 <participantID>9898</participantID>
+                <easy_mode_ip>127.0.0.1</easy_mode_ip>
                 <flow_controller_descriptor_list>
                     <flow_controller_descriptor>
                         <name>test_flow_controller</name>

test/unittest/xmlparser/test_xml_rooted_profile.xml

@@ -136,6 +136,7 @@
                     <offsetd4>251</offsetd4>
                 </port>
                 <participantID>9898</participantID>
+                <easy_mode_ip>127.0.0.1</easy_mode_ip>
                 <useBuiltinTransports>true</useBuiltinTransports>
                 <name>test_name</name>
                 <builtin_controllers_sender_thread>

versions.md

@@ -17,6 +17,7 @@ Forthcoming
   * New `ROS2_EASY_MODE` environment variable
   * Extended CLI ``discovery`` command to handle Fast DDS daemon.
   * Added P2P builtin transport.
+  * Added new `easy_mode_ip` XML tag and `easy_mode_` member in `WireProtocolConfigQos` for Discovery Server IP configuration. 
 
 Version v3.1.0
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