override domain_id with agent_domain_id from env

eProsima · Jun 30, 2023 · 514de9c · 514de9c
1 parent caf8876
commit 514de9c
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Showing 3 changed files with 33 additions and 2 deletions.
diff --git a/include/uxr/agent/middleware/Middleware.hpp b/include/uxr/agent/middleware/Middleware.hpp
@@ -26,6 +26,7 @@
 #include <chrono>
 
 #define UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF (255)
+#define UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV (255)
 
 namespace eprosima {
 namespace uxr {
@@ -298,7 +299,7 @@ class Middleware
 /**********************************************************************************************************************
  * Members.
  **********************************************************************************************************************/
-protected: 
+protected:
     bool intraprocess_enabled_;
 };
 

diff --git a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
@@ -284,6 +284,9 @@ class FastDDSMiddleware : public Middleware
         std::shared_ptr<FastDDSParticipant>& participant,
         const fastrtps::ReplierAttributes& attrs);
 
+    uint8_t get_domain_id_from_env();
+
+    uint8_t agent_domain_id_ = 0;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSParticipant>> participants_;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSTopic>> topics_;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSPublisher>> publishers_;

diff --git a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
@@ -14,6 +14,7 @@
 
 #include <uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp>
 #include <uxr/agent/utils/Conversion.hpp>
+#include <uxr/agent/logger/Logger.hpp>
 
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
@@ -51,6 +52,14 @@ FastDDSMiddleware::FastDDSMiddleware(bool intraprocess_enabled)
     , repliers_()
     , callback_factory_(callback_factory_.getInstance())
 {
+    agent_domain_id_ = get_domain_id_from_env();
+    if (agent_domain_id_)
+    {
+        UXR_AGENT_LOG_INFO(
+                UXR_DECORATE_GREEN("Micro XRCE-DDS Agent DOMAIN_ID read from env"),
+                "domain_id: {}", agent_domain_id_);
+    }
+
 }
 
 /**********************************************************************************************************************
@@ -108,8 +117,16 @@ bool FastDDSMiddleware::create_participant_by_bin(
         uint16_t participant_id,
         const dds::xrce::OBJK_DomainParticipant_Binary& participant_xrce)
 {
+    auto participant_domain_id = static_cast<int16_t>(participant_xrce.domain_id());
+    if(participant_domain_id == UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV){
+        participant_domain_id = static_cast<int16_t>(agent_domain_id_);
+        UXR_AGENT_LOG_WARN(
+                UXR_DECORATE_YELLOW("Overriding Micro XRCE-DDS Client DOMAIN_ID"),
+                "domain_id: {}", participant_domain_id);
+    }
+
     bool rv = false;
-    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant((int16_t) participant_xrce.domain_id()));
+    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_domain_id));
     if (participant->create_by_bin(participant_xrce))
     {
         auto emplace_res = participants_.emplace(participant_id, std::move(participant));
@@ -1242,5 +1259,15 @@ bool FastDDSMiddleware::matched_replier_from_bin(
     return rv;
 }
 
+uint8_t FastDDSMiddleware::get_domain_id_from_env(){
+    uint8_t agent_domain_id = 0;
+    const char * agent_domain_id_env = std::getenv( "ROS_DOMAIN_ID" );
+    if (nullptr != agent_domain_id_env)
+    {
+        agent_domain_id = std::atoi(agent_domain_id_env);
+    }
+    return agent_domain_id;
+}
+
 } // namespace uxr
 } // namespace eprosima