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[rcl] Improve handling of dynamic discovery #1023

Merged
merged 41 commits into from Apr 8, 2023
Merged

[rcl] Improve handling of dynamic discovery #1023

merged 41 commits into from Apr 8, 2023

Commits on Mar 21, 2023

  1. Get discovery preferences from the environment 

    Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>
    @gbiggs @wjwwood
    gbiggs authored and wjwwood committed Mar 21, 2023
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  2. Support specification of discovery range and static peers 

    Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>
    @gbiggs @wjwwood
    gbiggs authored and wjwwood committed Mar 21, 2023
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  3. Add some debug helpers 

    Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>
    @gbiggs @wjwwood
    gbiggs authored and wjwwood committed Mar 21, 2023
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  4. Cleanup the LOCALHOST_ONLY deprecation a bit. 

    Only print out the warning if it is actually specified.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @wjwwood
    clalancette authored and wjwwood committed Mar 21, 2023
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  5. Rewrite parsing of static peers. 

    Mostly to get rid of the use of strtok_r, which is dangerous
and also should not be used on our static environment variables.
Instead, use rcutils_split(), which is much better.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @wjwwood
    clalancette authored and wjwwood committed Mar 21, 2023
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  6. Fix some silly bugs. 

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @wjwwood
    clalancette authored and wjwwood committed Mar 21, 2023
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  7. Use names instead of integers for discovery range env vars 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
    @mxgrey @wjwwood
    mxgrey authored and wjwwood committed Mar 21, 2023
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  8. Add support for dynamic allocation 

    This commit adds support for dynamic allocation for unlimited number of
static peers.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129 @wjwwood
    arjo129 authored and wjwwood committed Mar 21, 2023
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  9. Add a warning if ROS_AUTOMATIC_DISCOVERY_OFF is set and STATIC_PEERS are 

    set.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129 @wjwwood
    arjo129 authored and wjwwood committed Mar 21, 2023
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  10. Update to latest rmw API 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
    @mxgrey @wjwwood
    mxgrey authored and wjwwood committed Mar 21, 2023
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  11. Uncrustify 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
    @mxgrey @wjwwood
    mxgrey authored and wjwwood committed Mar 21, 2023
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Commits on Mar 24, 2023

  1. Merge branch 'rolling' into gbiggs/discovery-peers-specification

    @sloretz
    sloretz committed Mar 24, 2023
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Commits on Mar 28, 2023

  1. Update for rmw_discovery_options_t changes 

    Signed-off-by: Shane Loretz <sloretz@google.com>
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  2. Address feedback: use strncmp 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
    arjo129 committed Mar 28, 2023
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  3. Address feedback: Log levels 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
    arjo129 committed Mar 28, 2023
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  4. Address feedback: remove TODO 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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  5. Address feedback: rename function 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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  6. ddress feedback: Docstring 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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  7. Address feedback: comment 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
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  8. Add RCL_RET_ERROR if fini fails. 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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  9. snprintf->rcutils_snprintf 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
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  10. Rename tests 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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  11. rcl_get_discovery_automatic_range -> rcl_get_automatic_discovery_rang… 

    …e in test

Signed-off-by: Shane Loretz <sloretz@google.com>
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    sloretz committed Mar 28, 2023
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Commits on Mar 29, 2023

  1. Annotate tests 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
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  2. More comments 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
    arjo129 committed Mar 29, 2023
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  3. Style 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
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  4. Style 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
    arjo129 committed Mar 29, 2023
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  5. Uncrustify 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
    arjo129 committed Mar 29, 2023
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  6. Constness and warning 

    Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
    @arjo129
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  7. address TODO about IP address validation in the static peers 

    Signed-off-by: William Woodall <william@osrfoundation.org>
    @wjwwood
    wjwwood committed Mar 29, 2023
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  8. NOT_SET and SYSTEM_DEFAULT values 

    Signed-off-by: Shane Loretz <sloretz@google.com>
    @sloretz
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  9. refactor discovery options to handle env vars better and simplify str… 

    …ingifying enums

Signed-off-by: William Woodall <william@osrfoundation.org>
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    wjwwood committed Mar 29, 2023
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  10. fixup docs 

    Signed-off-by: William Woodall <william@osrfoundation.org>
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    wjwwood committed Mar 29, 2023
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  11. (re)improve the discovery range debug message 

    Signed-off-by: William Woodall <william@osrfoundation.org>
    @wjwwood
    wjwwood committed Mar 29, 2023
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Commits on Mar 31, 2023

  1. Set discovery options to NOT_SET to detect user changse 

    Signed-off-by: Shane Loretz <sloretz@google.com>
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    sloretz committed Mar 31, 2023
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  2. lint 

    Signed-off-by: Shane Loretz <sloretz@google.com>
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    sloretz committed Mar 31, 2023
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  3. Merge branch 'rolling' into gbiggs/discovery-peers-specification

    @sloretz
    sloretz committed Mar 31, 2023
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  4. strncpy_s on windows 

    Signed-off-by: Shane Loretz <sloretz@google.com>
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    sloretz committed Mar 31, 2023
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Commits on Apr 6, 2023

  1. Merge branch 'rolling' into gbiggs/discovery-peers-specification

    @sloretz
    sloretz committed Apr 6, 2023
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  2. Change default range to SUBNET, and allow configuring it at build time 

    Signed-off-by: Shane Loretz <sloretz@google.com>
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    sloretz committed Apr 6, 2023
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Commits on Apr 7, 2023

  1. Merge branch 'rolling' into gbiggs/discovery-peers-specification

    @sloretz
    sloretz committed Apr 7, 2023
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