Skip to content

Commit

Permalink
Define a super client by environment variable (#4047) (#4105)
Browse files Browse the repository at this point in the history 
* Refs #19967: Add env variable ROS_SUPER_CLIENT

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Make SIMPLE to SUPER CLIENT, when ROS_SUPER_CLIENT is true

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Delete the change

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Add test superhost set by environment variable

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Uncrustify and clean

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Uncrustify and clean

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Document the methods

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #19967: Change try-throw-catch in a simple log error

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Change string in log error

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

---------

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>
(cherry picked from commit f40d54c)

Co-authored-by: elianalf <62831776+elianalf@users.noreply.github.com>
  • Loading branch information
@mergify @elianalf
mergify[bot] and elianalf authored Dec 8, 2023
1 parent ce10c55 commit acf93fa
Show file tree
Hide file tree
Showing 4 changed files with 139 additions and 0 deletions.
17 changes: 17 additions & 0 deletions include/fastdds/rtps/attributes/ServerAttributes.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,15 @@ const char* const DEFAULT_ROS2_SERVER_GUIDPREFIX = "44.53.00.5f.45.50.52.4f.53.4
*/
const char* const DEFAULT_ROS2_MASTER_URI = "ROS_DISCOVERY_SERVER";

/* Environment variable to transform a SIMPLE participant in a SUPER CLIENT.
* If the participant is not SIMPLE, the variable doesn't have any effects.
* The variable can assume the following values:
* - FALSE, false, False, 0
* - TRUE, true, True, 1
* If the variable is not set, the program will behave like the variable is set to false.
*/
const char* const ROS_SUPER_CLIENT = "ROS_SUPER_CLIENT";

/**
* Retrieves a semicolon-separated list of locators from a string, and
* populates a RemoteServerList_t mapping list position to default guid.
Expand Down Expand Up @@ -211,6 +220,12 @@ RTPS_DllAPI bool load_environment_server_info(
*/
RTPS_DllAPI const std::string& ros_discovery_server_env();

/**
* Get the value of environment variable ROS_SUPER_CLIENT
* @return The value of environment variable ROS_SUPER_CLIENT. False if the variable is not defined.
*/
RTPS_DllAPI bool ros_super_client_env();

/**
* Returns the guidPrefix associated to the given server id
* @param[in] id of the default server whose guidPrefix we want to retrieve
Expand All @@ -233,9 +248,11 @@ using fastdds::rtps::RemoteServerList_t;
using fastdds::rtps::DEFAULT_ROS2_SERVER_PORT;
using fastdds::rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX;
using fastdds::rtps::DEFAULT_ROS2_MASTER_URI;
using fastdds::rtps::ROS_SUPER_CLIENT;
using fastdds::rtps::load_environment_server_info;
using fastdds::rtps::ros_discovery_server_env;
using fastdds::rtps::get_server_client_default_guidPrefix;
using fastdds::rtps::ros_super_client_env;

} // fastrtps
} // rtps
Expand Down
6 changes: 6 additions & 0 deletions src/cpp/rtps/RTPSDomain.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -570,6 +570,12 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
client_att.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
// RemoteServerAttributes already fill in above

// Check if the client must become a super client
if (ros_super_client_env())
{
client_att.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SUPER_CLIENT;
}

RTPSParticipant* part = createParticipant(domain_id, enabled, client_att, listen);
if (nullptr != part)
{
Expand Down
27 changes: 27 additions & 0 deletions src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -929,6 +929,33 @@ void PDPClient::match_pdp_reader_nts_(
}
}

bool ros_super_client_env()
{
std::string super_client_str;
bool super_client = false;
std::vector<std::string> true_vec = {"TRUE", "true", "True", "1"};
std::vector<std::string> false_vec = {"FALSE", "false", "False", "0"};

SystemInfo::get_env(ROS_SUPER_CLIENT, super_client_str);
if (super_client_str != "")
{
if (find(true_vec.begin(), true_vec.end(), super_client_str) != true_vec.end())
{
super_client = true;
}
else if (find(false_vec.begin(), false_vec.end(), super_client_str) != false_vec.end())
{
super_client = false;
}
else
{
EPROSIMA_LOG_ERROR(RTPS_PDP,
"Invalid value for ROS_SUPER_CLIENT environment variable : " << super_client_str);
}
}
return super_client;
}

const std::string& ros_discovery_server_env()
{
static std::string servers;
Expand Down
89 changes: 89 additions & 0 deletions test/unittest/dds/participant/ParticipantTests.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -876,6 +876,95 @@ TEST(ParticipantTests, SimpleParticipantRemoteServerListConfiguration)
}


/**
* Test that a SIMPLE participant is transformed into a CLIENT if the variable ROS_SUPER_CLIENT is false and into a SUPERCLIENT if it's true.
* It also checks that the environment variable has priority over the coded QoS settings.
*/
TEST(ParticipantTests, TransformSimpleParticipantToSuperclientByEnvVariable)
{
set_environment_variable();

#ifdef _WIN32
ASSERT_EQ(0, _putenv_s(rtps::ROS_SUPER_CLIENT, "false"));
#else
ASSERT_EQ(0, setenv(rtps::ROS_SUPER_CLIENT, "false", 1));
#endif // _WIN32

rtps::RemoteServerList_t output;
rtps::RemoteServerList_t qos_output;
expected_remote_server_list_output(output);

DomainParticipantQos qos;
set_participant_qos(qos, qos_output);

DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(
(uint32_t)GET_PID() % 230, qos);
ASSERT_NE(nullptr, participant);

fastrtps::rtps::RTPSParticipantAttributes attributes;
get_rtps_attributes(participant, attributes);
EXPECT_EQ(attributes.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::CLIENT);
EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);

#ifdef _WIN32
ASSERT_EQ(0, _putenv_s(rtps::ROS_SUPER_CLIENT, "true"));
#else
ASSERT_EQ(0, setenv(rtps::ROS_SUPER_CLIENT, "true", 1));
#endif // _WIN32

DomainParticipant* participant_2 = DomainParticipantFactory::get_instance()->create_participant(
(uint32_t)GET_PID() % 230, qos);
ASSERT_NE(nullptr, participant_2);

fastrtps::rtps::RTPSParticipantAttributes attributes_2;
get_rtps_attributes(participant_2, attributes_2);
EXPECT_EQ(attributes_2.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::SUPER_CLIENT);
EXPECT_EQ(attributes_2.builtin.discovery_config.m_DiscoveryServers, output);

// check UDPv6 transport is there
auto udpv6_check = [](fastrtps::rtps::RTPSParticipantAttributes& attributes) -> bool
{
for (auto& transportDescriptor : attributes.userTransports)
{
if ( nullptr != dynamic_cast<fastdds::rtps::UDPv6TransportDescriptor*>(transportDescriptor.get()))
{
return true;
}
}

return false;
};
EXPECT_TRUE(udpv6_check(attributes));

DomainParticipantQos result_qos = participant->get_qos();
EXPECT_EQ(result_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers, qos_output);
EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));

// check UDPv6 transport is there
auto udpv6_check_2 = [](fastrtps::rtps::RTPSParticipantAttributes& attributes_2) -> bool
{
for (auto& transportDescriptor : attributes_2.userTransports)
{
if ( nullptr != dynamic_cast<fastdds::rtps::UDPv6TransportDescriptor*>(transportDescriptor.get()))
{
return true;
}
}

return false;
};
EXPECT_TRUE(udpv6_check_2(attributes_2));

result_qos = participant_2->get_qos();
EXPECT_EQ(result_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers, qos_output);
EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant_2->set_qos(result_qos));

EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant_2));
}



/**
* Test that:
* + checks a SIMPLE participant is transformed into a CLIENT.
Expand Down

0 comments on commit acf93fa

Please sign in to comment.