[22721] Increase 'max_blocking_time' in Easy Mode

src/cpp/rtps/RTPSDomain.cpp

@@ -58,6 +58,23 @@ namespace eprosima {
 namespace fastdds {
 namespace rtps {
 
+const char* EASY_MODE_SERVICE_PROFILE =
+        "<?xml version=\"1.0\" encoding=\"UTF-8\" ?>\n"
+        "<dds xmlns=\"http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles\">\n"
+        "    <profiles>\n"
+        "        <data_writer profile_name=\"service\">\n"
+        "            <qos>\n"
+        "                <reliability>\n"
+        "                    <max_blocking_time>\n"
+        "                        <sec>1</sec>\n"
+        "                        <nanosec>0</nanosec>\n"
+        "                    </max_blocking_time>\n"
+        "                </reliability>\n"
+        "            </qos>\n"
+        "        </data_writer>\n"
+        "    </profiles>\n"
+        "</dds>\n";
+
 template<typename _Descriptor>
 bool has_user_transport(
         const RTPSParticipantAttributes& att)
@@ -616,6 +633,22 @@ RTPSParticipant* RTPSDomainImpl::clientServerEnvironmentCreationOverride(
         // Point to the well known DS port in the corresponding domain
         client_att.builtin.discovery_config.m_DiscoveryServers.push_back(locator_udp);
 
+        // Load the 'service' profile for ROS2_EASY_MODE services if there is no existing profile yet
+        xmlparser::PublisherAttributes attr;
+        auto ret_if = xmlparser::XMLProfileManager::fillPublisherAttributes("service", attr, false);
+        if (ret_if == xmlparser::XMLP_ret::XML_ERROR)
+        {
+            // An XML_ERROR is returned if there is no existing profile for the given name
+            xmlparser::XMLProfileManager::loadXMLString(EASY_MODE_SERVICE_PROFILE, strlen(EASY_MODE_SERVICE_PROFILE));
+            EPROSIMA_LOG_INFO(RTPS_DOMAIN, "Loaded service profile for ROS2_EASY_MODE servers");
+        }
+        else
+        {
+            // There is already a profile with the given name. Do not overwrite it
+            EPROSIMA_LOG_WARNING(RTPS_DOMAIN, "An XML profile for 'service' was found. When using ROS2_EASY_MODE, please ensure"
+                    " the max_blocking_time is configured with a value higher than the default.");
+        }
+
         SystemCommandBuilder sys_command;
         int res = sys_command.executable(FAST_DDS_DEFAULT_CLI_SCRIPT_NAME)
                         .verb(FAST_DDS_DEFAULT_CLI_DISCOVERY_VERB)

test/blackbox/common/BlackboxTestsTransportCustom.cpp

@@ -613,7 +613,7 @@ TEST(ChainingTransportTests, builtin_transports_env_large_data)
 }
 
 /**
- * DS Auto transport shall always be used along with ROS_DISCOVERY_SERVER=AUTO.
+ * P2P transport shall always be used along with ROS2_EASY_MODE.
  * This is due to the working principle of the mode. If it is not specified,
  * the background discovery server will not be launched and the test will never
  * finish since both clients will keep waiting for it.

test/blackbox/common/DDSBlackboxTestsDSEasyMode.cpp

@@ -58,7 +58,7 @@ TEST(DSEasyMode, easy_discovery_mode_env_correctly_launches)
     PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
 
-    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Setting ROS2_EASY_MODE
     // Configures as SUPER_CLIENT SHM and TCP
     set_easy_discovery_mode_env();
 
@@ -136,8 +136,7 @@ TEST(DSEasyMode, easy_discovery_mode_env_correct_transports_are_used)
 
     ASSERT_TRUE(writer_udp.isInitialized());
 
-    // Setting ROS_DISCOVERY_SERVER to AUTO
-    // Configures as SUPER_CLIENT SHM and TCP
+    // Setting ROS2_EASY_MODE configures as SUPER_CLIENT SHM and TCP
     set_easy_discovery_mode_env();
 
     std::atomic<bool> locators_match_p2p_transport(true);
@@ -226,7 +225,7 @@ TEST(DSEasyMode, easy_discovery_mode_env_discovery_info)
         ASSERT_TRUE(writers.back()->isInitialized());
     }
 
-    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Setting ROS2_EASY_MODE
     // Configures as SUPER_CLIENT SHM and TCP
     set_easy_discovery_mode_env();
 
@@ -266,7 +265,7 @@ TEST(DSEasyMode, easy_discovery_mode_env_multiple_clients_multiple_domains)
     std::vector<std::shared_ptr<PubSubWriter<HelloWorldPubSubType>>> writers;
     std::vector<std::shared_ptr<PubSubReader<HelloWorldPubSubType>>> readers;
 
-    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Setting ROS2_EASY_MODE
     // Configures as SUPER_CLIENT SHM and TCP
     set_easy_discovery_mode_env();
 

test/unittest/dds/participant/CMakeLists.txt

@@ -16,6 +16,10 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../profiles/test_xml_profile.xml
     ${CMAKE_CURRENT_BINARY_DIR}/test_xml_profile.xml
     COPYONLY)
 
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../profiles/test_xml_service_easy_mode.xml
+    ${CMAKE_CURRENT_BINARY_DIR}/test_xml_service_easy_mode.xml
+    COPYONLY)
+
 set(PARTICIPANTTESTS_SOURCE
         ParticipantTests.cpp
     )

test/unittest/dds/participant/ParticipantTests.cpp

@@ -81,6 +81,14 @@
 #define GET_PID getpid
 #endif // if defined(_WIN32)
 
+void stop_background_servers()
+{
+#ifndef _WIN32 // The feature is not supported on Windows yet
+    // Stop server(s)
+    int res = std::system("fastdds discovery stop");
+    ASSERT_EQ(res, 0);
+#endif // _WIN32
+}
 
 namespace eprosima {
 namespace fastdds {
@@ -1077,6 +1085,17 @@ void set_environment_variable(
 #endif // _WIN32
 }
 
+void set_easy_mode_environment_variable(
+        const std::string ip = "127.0.0.1"
+        )
+{
+#ifdef _WIN32
+    ASSERT_EQ(0, _putenv_s(rtps::EASY_MODE_URI, ip.c_str()));
+#else
+    ASSERT_EQ(0, setenv(rtps::EASY_MODE_URI, ip.c_str(), 1));
+#endif // _WIN32
+}
+
 void set_environment_file(
         const std::string& filename)
 {
@@ -1483,6 +1502,70 @@ TEST(ParticipantTests, ServerParticipantRemoteServerListConfiguration)
     EXPECT_EQ(RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
 }
 
+TEST(ParticipantTests, EasyModeParticipantLoadsServiceDataWriterQos)
+{
+    // Use get_datawriter_qos_from_profile to check if the profile is correctly loaded.
+    {
+        // Default participant
+        DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(
+            (uint32_t)GET_PID() % 230, PARTICIPANT_QOS_DEFAULT);
+        ASSERT_NE(nullptr, participant);
+        Publisher* default_publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
+        ASSERT_NE(default_publisher, nullptr);
+        DataWriterQos dw_qos;
+        EXPECT_EQ(default_publisher->get_datawriter_qos_from_profile("service", dw_qos), RETCODE_BAD_PARAMETER);
+
+        EXPECT_EQ(RETCODE_OK, participant->delete_publisher(default_publisher));
+        EXPECT_EQ(RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
+    }
+
+    {
+        // Easy mode participant
+        set_easy_mode_environment_variable();
+        DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(
+            (uint32_t)GET_PID() % 230, PARTICIPANT_QOS_DEFAULT);
+        ASSERT_NE(nullptr, participant);
+        Publisher* easy_mode_publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
+        ASSERT_NE(easy_mode_publisher, nullptr);
+        DataWriterQos dw_qos;
+        EXPECT_EQ(easy_mode_publisher->get_datawriter_qos_from_profile("service", dw_qos), RETCODE_OK);
+        EXPECT_EQ(dw_qos.reliability().max_blocking_time.seconds, 1);         // Easy Mode value
+        EXPECT_EQ(dw_qos.reliability().max_blocking_time.nanosec, 0u);        // Easy Mode value
+        EXPECT_EQ(dw_qos.durability().kind, TRANSIENT_LOCAL_DURABILITY_QOS);  // Default value
+
+        EXPECT_EQ(RETCODE_OK, participant->delete_publisher(easy_mode_publisher));
+        EXPECT_EQ(RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
+        stop_background_servers();
+    }
+}
+
+TEST(ParticipantTests, EasyModeParticipantDoNotOverwriteCustomDataWriterQos)
+{
+    {
+        // Easy mode participant with existing profile
+        // Set XML profile as environment variable: "export FASTDDS_DEFAULT_PROFILES_FILE=test_xml_service_easy_mode.xml"
+        eprosima::testing::set_environment_variable("FASTDDS_DEFAULT_PROFILES_FILE", "test_xml_service_easy_mode.xml");
+        set_easy_mode_environment_variable();
+        DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(
+            (uint32_t)GET_PID() % 230, PARTICIPANT_QOS_DEFAULT);
+        ASSERT_NE(nullptr, participant);
+        Publisher* easy_mode_publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
+        ASSERT_NE(easy_mode_publisher, nullptr);
+        PublisherQos profile_qos;
+        EXPECT_EQ(easy_mode_publisher->get_participant()->get_publisher_qos_from_profile("service", profile_qos),
+                RETCODE_OK);
+        DataWriterQos dw_qos;
+        easy_mode_publisher->get_datawriter_qos_from_profile("service", dw_qos);
+        EXPECT_EQ(dw_qos.reliability().max_blocking_time.seconds, 5);   // XML value
+        EXPECT_EQ(dw_qos.reliability().max_blocking_time.nanosec, 0u);  // XML value
+        EXPECT_EQ(dw_qos.durability().kind, VOLATILE_DURABILITY_QOS);   // XML value
+
+        EXPECT_EQ(RETCODE_OK, participant->delete_publisher(easy_mode_publisher));
+        EXPECT_EQ(RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
+        stop_background_servers();
+    }
+}
+
 /**
  * Dynamic modification of servers. Replacing previous servers with new ones.
  */

test/unittest/dds/profiles/test_xml_service_easy_mode.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"  ?>
+<dds xmlns="http://www.eprosima.com">
+    <profiles>
+        <data_writer profile_name="service">
+            <qos>
+                <reliability>
+                    <max_blocking_time>
+                        <sec>5</sec>
+                        <nanosec>0</nanosec>
+                    </max_blocking_time>
+                </reliability>
+                <durability>
+                    <kind>VOLATILE</kind>
+                </durability>
+            </qos>
+        </data_writer>
+    </profiles>
+</dds>