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Support different config for ROS_LOCALHOST_ONLY. (#310)
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Signed-off-by: ChenYing Kuo <[email protected]>
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evshary authored Oct 29, 2024
1 parent 94cde7c commit 5e99b5a
Showing 1 changed file with 34 additions and 10 deletions.
44 changes: 34 additions & 10 deletions zenoh-plugin-ros2dds/src/lib.rs
Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,8 @@ use config::Config;

use crate::{
dds_utils::get_guid, discovery_mgr::DiscoveryMgr, events::ROS2DiscoveryEvent,
liveliness_mgt::*, ros_discovery::RosDiscoveryInfoMgr, routes_mgr::RoutesMgr,
liveliness_mgt::*, ros2_utils::ros_distro_is_less_than, ros_discovery::RosDiscoveryInfoMgr,
routes_mgr::RoutesMgr,
};

lazy_static::lazy_static! {
Expand Down Expand Up @@ -128,7 +129,19 @@ kedefine!(
// CycloneDDS' localhost-only: set network interface address (shortened form of config would be
// possible, too, but I think it is clearer to spell it out completely).
// Empty configuration fragments are ignored, so it is safe to unconditionally append a comma.
const CYCLONEDDS_CONFIG_LOCALHOST_ONLY: &str = r#"<CycloneDDS><Domain><General><Interfaces><NetworkInterface address="127.0.0.1"/></Interfaces></General></Domain></CycloneDDS>,"#;
const CYCLONEDDS_CONFIG_LOCALHOST_ONLY_BEFORE_HUMBLE: &str = r#"<CycloneDDS><Domain><General>
<Interfaces><NetworkInterface address="127.0.0.1"/></Interfaces>
</General></Domain></CycloneDDS>,"#;
const CYCLONEDDS_CONFIG_LOCALHOST_ONLY_AFTER_IRON: &str = r#"<CycloneDDS><Domain>
<General>
<AllowMulticast>false</AllowMulticast>
</General>
<Discovery>
<ParticipantIndex>auto</ParticipantIndex>
<MaxAutoParticipantIndex>32</MaxAutoParticipantIndex>
<Peers><Peer address='localhost'/></Peers>
</Discovery>
</Domain></CycloneDDS>,"#;

// CycloneDDS' enable-shm: enable usage of Iceoryx shared memory
#[cfg(feature = "dds_shm")]
Expand Down Expand Up @@ -234,14 +247,25 @@ pub async fn run(runtime: Runtime, config: Config) {

// if "ros_localhost_only" is set, configure CycloneDDS to use only localhost interface
if config.ros_localhost_only {
env::set_var(
"CYCLONEDDS_URI",
format!(
"{}{}",
CYCLONEDDS_CONFIG_LOCALHOST_ONLY,
env::var("CYCLONEDDS_URI").unwrap_or_default()
),
);
if ros_distro_is_less_than("iron") {
env::set_var(
"CYCLONEDDS_URI",
format!(
"{}{}",
CYCLONEDDS_CONFIG_LOCALHOST_ONLY_BEFORE_HUMBLE,
env::var("CYCLONEDDS_URI").unwrap_or_default()
),
);
} else {
env::set_var(
"CYCLONEDDS_URI",
format!(
"{}{}",
CYCLONEDDS_CONFIG_LOCALHOST_ONLY_AFTER_IRON,
env::var("CYCLONEDDS_URI").unwrap_or_default()
),
);
}
}

// if "enable_shm" is set, configure CycloneDDS to use Iceoryx shared memory
Expand Down

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