rosotacom-dev 2.5.dev3__tar.gz → 2.5.dev5__tar.gz

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev3
+Version: 2.5.dev5
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/src/rosotacom/cli.py

@@ -4249,13 +4249,40 @@ def _create_scenario_tmux(
     return session_name
 
 
+def _local_ipc_run_args(network_isolated: bool) -> list[str]:
+    """Share the host IPC namespace, unless the run is network-isolated.
+
+    A peer has to exchange local-domain data with application containers on the
+    same machine — a replay, the control centre. With `--network host` but
+    `ipc=private` each container has its own `/dev/shm`, FastDDS sees two
+    participants on one host, negotiates shared memory, and writes into a
+    segment the other side cannot map. Discovery goes over UDP and works;
+    delivery goes over SHM and is dropped without a word.
+
+    The result is the worst shape a failure can take: the link comes up, the
+    heartbeat crosses at 10 Hz with 0% loss, every pipeline reads `pub=1 sub=1`
+    — and no payload ever enters it. Measured on 2026-08-09: 399 messages in
+    eight seconds inside the publisher's container, 0 in the peer's.
+
+    The OTA path never showed it, because the generated unicast profile pins
+    explicit locators and therefore forces UDP.
+
+    Not under `--network-name`. Sharing SHM there would let DDS bypass the very
+    boundary the isolation exists to simulate, and a test that passes through a
+    hole in its own isolation is worse than no test at all.
+    """
+    return [] if network_isolated else ["--ipc", "host"]
+
+
 def _base_extra_run_args(
     runtime: RuntimeConfig,
     session: ResolvedSession,
     cfg: dict[str, Any],
     instance: SessionInstance,
+    *,
+    network_isolated: bool = False,
 ) -> list[str]:
-    args: list[str] = []
+    args: list[str] = _local_ipc_run_args(network_isolated)
     ros2docker_cfg = load_config(runtime.ros2docker_config)
 
     if not ros2docker_cfg.get("mount_ws"):
@@ -4425,7 +4452,7 @@ def start_session(args: argparse.Namespace) -> str:
                 " (or pass --force to replace it, --skip-conflict-check to ignore it).",
             )
     image_name = _scoped_image_name(runtime)
-    extra_run_args = _base_extra_run_args(runtime, session, cfg, instance)
+    extra_run_args = _base_extra_run_args(runtime, session, cfg, instance, network_isolated=network_isolated)
     run_override: dict[str, object] = {}
     network_name = getattr(args, "network_name", None)
     if network_name:

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/src/rosotacom/resources/ws/session/content/base/session_plugin_base.yaml

@@ -243,7 +243,7 @@ common:
   before_commands:
     - if [ '${local_domain_id}' != "None" ] && [ -n '${local_domain_id}' ]; then export ROS_DOMAIN_ID='${local_domain_id}'; fi
     - if [ '${rmw_local}' != "None" ]; then case ${rmw_local} in cyclone) export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp;; fastdds) export RMW_IMPLEMENTATION=rmw_fastrtps_cpp; export FASTDDS_BUILTIN_TRANSPORTS=${FASTDDS_BUILTIN_TRANSPORTS:-UDPv4};; zenoh) export RMW_IMPLEMENTATION=rmw_zenoh_cpp;; *) export RMW_IMPLEMENTATION='${rmw_local}';; esac; fi
-    - if [ '${local_config_template}' != "None" ] && [ -n '${local_config_template}' ]; then local_args=(--config "${local_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${local_easy_mode_ip}' != "None" ] && [ -n '${local_easy_mode_ip}' ] && local_args+=(--easy-mode-ip "${local_easy_mode_ip}"); [ '${local_spdp_interval}' != "None" ] && [ -n '${local_spdp_interval}' ] && local_args+=(--spdp-interval "${local_spdp_interval}"); /ws/ota_configs/get_ota_xml.py "${local_args[@]}" > "${local_config_file}"; case ${rmw_local} in cyclone) export CYCLONEDDS_URI="file://${local_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${local_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
+    - if [ '${local_config_template}' != "None" ] && [ -n '${local_config_template}' ]; then local_args=(--config "${local_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${local_easy_mode_ip}' != "None" ] && [ -n '${local_easy_mode_ip}' ] && local_args+=(--easy-mode-ip "${local_easy_mode_ip}"); [ '${local_spdp_interval}' != "None" ] && [ -n '${local_spdp_interval}' ] && local_args+=(--spdp-interval "${local_spdp_interval}"); python3 /ws/ota_configs/get_ota_xml.py "${local_args[@]}" > "${local_config_file}"; case ${rmw_local} in cyclone) export CYCLONEDDS_URI="file://${local_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${local_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
     - if [ '${before_command}' != "None" ]; then ${before_command}; fi
 
 windows:
@@ -254,7 +254,7 @@ windows:
       - commands:
         - if [ '${ota_domain_id}' != "None" ] && [ -n '${ota_domain_id}' ]; then export ROS_DOMAIN_ID='${ota_domain_id}'; fi
         - export RUST_LOG=zenoh=debug,zenoh_bridge_ros2dds=debug
-        - /ws/ota_configs/create_zenoh_json5.py -m ${zen_mode} -e ${zen_endpoint_role} -t ${zen_transport} -i ${zen_main_ip} -r ${zen_main_port} -p ${zen_pub_allow} -s ${zen_sub_allow} -q '${zen_qos_pub}' -f ${zen_config_file}
+        - python3 /ws/ota_configs/create_zenoh_json5.py -m ${zen_mode} -e ${zen_endpoint_role} -t ${zen_transport} -i ${zen_main_ip} -r ${zen_main_port} -p ${zen_pub_allow} -s ${zen_sub_allow} -q '${zen_qos_pub}' -f ${zen_config_file}
         - zenohd -c ${zen_config_file}
       # Debugging commands:
       #   - zenohd -c ${zen_config_file} --rest-http-port 8000 2>&1 | tee ${zen_config_file}.log
@@ -277,7 +277,7 @@ windows:
     if: use_domain_bridge
     splits:
       - commands:
-        - if [ '${ota_config_template}' != "None" ] && [ -n '${ota_config_template}' ]; then ota_args=(--config "${ota_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${ota_easy_mode_ip}' != "None" ] && [ -n '${ota_easy_mode_ip}' ] && ota_args+=(--easy-mode-ip "${ota_easy_mode_ip}"); [ '${ota_spdp_interval}' != "None" ] && [ -n '${ota_spdp_interval}' ] && ota_args+=(--spdp-interval "${ota_spdp_interval}"); /ws/ota_configs/get_ota_xml.py "${ota_args[@]}" > "${ota_config_file}"; case ${rmw_ota} in cyclone) export CYCLONEDDS_URI="file://${ota_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${ota_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
+        - if [ '${ota_config_template}' != "None" ] && [ -n '${ota_config_template}' ]; then ota_args=(--config "${ota_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${ota_easy_mode_ip}' != "None" ] && [ -n '${ota_easy_mode_ip}' ] && ota_args+=(--easy-mode-ip "${ota_easy_mode_ip}"); [ '${ota_spdp_interval}' != "None" ] && [ -n '${ota_spdp_interval}' ] && ota_args+=(--spdp-interval "${ota_spdp_interval}"); python3 /ws/ota_configs/get_ota_xml.py "${ota_args[@]}" > "${ota_config_file}"; case ${rmw_ota} in cyclone) export CYCLONEDDS_URI="file://${ota_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${ota_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
         - ros2 run domain_bridge domain_bridge --wait-for-publisher false ${domain_bridge_config_file}
   - name: IN
     if: in
@@ -285,7 +285,7 @@ windows:
       - commands:
         - if [ '${ota_domain_id}' != "None" ] && [ -n '${ota_domain_id}' ]; then export ROS_DOMAIN_ID='${ota_domain_id}'; fi
         - case ${rmw_ota} in cyclone) export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp;; fastdds) export RMW_IMPLEMENTATION=rmw_fastrtps_cpp; export FASTDDS_BUILTIN_TRANSPORTS=${FASTDDS_BUILTIN_TRANSPORTS:-UDPv4};; zenoh) export RMW_IMPLEMENTATION=rmw_zenoh_cpp;; esac
-        - if [ '${ota_config_template}' != "None" ] && [ -n '${ota_config_template}' ]; then ota_args=(--config "${ota_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${ota_easy_mode_ip}' != "None" ] && [ -n '${ota_easy_mode_ip}' ] && ota_args+=(--easy-mode-ip "${ota_easy_mode_ip}"); [ '${ota_spdp_interval}' != "None" ] && [ -n '${ota_spdp_interval}' ] && ota_args+=(--spdp-interval "${ota_spdp_interval}"); /ws/ota_configs/get_ota_xml.py "${ota_args[@]}" > "${ota_config_file}"; case ${rmw_ota} in cyclone) export CYCLONEDDS_URI="file://${ota_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${ota_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
+        - if [ '${ota_config_template}' != "None" ] && [ -n '${ota_config_template}' ]; then ota_args=(--config "${ota_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${ota_easy_mode_ip}' != "None" ] && [ -n '${ota_easy_mode_ip}' ] && ota_args+=(--easy-mode-ip "${ota_easy_mode_ip}"); [ '${ota_spdp_interval}' != "None" ] && [ -n '${ota_spdp_interval}' ] && ota_args+=(--spdp-interval "${ota_spdp_interval}"); python3 /ws/ota_configs/get_ota_xml.py "${ota_args[@]}" > "${ota_config_file}"; case ${rmw_ota} in cyclone) export CYCLONEDDS_URI="file://${ota_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${ota_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
         # For zenoh_ros2dds the OTA domain is loopback-only (zenoh is the inter-host
         # transport), so confine discovery to localhost instead of statically peering
         # the remote host — otherwise the OTA-domain DDS double-delivers alongside zenoh.
@@ -310,7 +310,7 @@ windows:
       - commands:
         - if [ '${ota_domain_id}' != "None" ] && [ -n '${ota_domain_id}' ]; then export ROS_DOMAIN_ID='${ota_domain_id}'; fi
         - case ${rmw_ota} in cyclone) export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp;; fastdds) export RMW_IMPLEMENTATION=rmw_fastrtps_cpp; export FASTDDS_BUILTIN_TRANSPORTS=${FASTDDS_BUILTIN_TRANSPORTS:-UDPv4};; zenoh) export RMW_IMPLEMENTATION=rmw_zenoh_cpp;; esac
-        - if [ '${ota_config_template}' != "None" ] && [ -n '${ota_config_template}' ]; then ota_args=(--config "${ota_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${ota_easy_mode_ip}' != "None" ] && [ -n '${ota_easy_mode_ip}' ] && ota_args+=(--easy-mode-ip "${ota_easy_mode_ip}"); [ '${ota_spdp_interval}' != "None" ] && [ -n '${ota_spdp_interval}' ] && ota_args+=(--spdp-interval "${ota_spdp_interval}"); /ws/ota_configs/get_ota_xml.py "${ota_args[@]}" > "${ota_config_file}"; case ${rmw_ota} in cyclone) export CYCLONEDDS_URI="file://${ota_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${ota_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
+        - if [ '${ota_config_template}' != "None" ] && [ -n '${ota_config_template}' ]; then ota_args=(--config "${ota_config_template}" --host-ip "${ip_local}" --peer "${ip_remote}"); [ '${ota_easy_mode_ip}' != "None" ] && [ -n '${ota_easy_mode_ip}' ] && ota_args+=(--easy-mode-ip "${ota_easy_mode_ip}"); [ '${ota_spdp_interval}' != "None" ] && [ -n '${ota_spdp_interval}' ] && ota_args+=(--spdp-interval "${ota_spdp_interval}"); python3 /ws/ota_configs/get_ota_xml.py "${ota_args[@]}" > "${ota_config_file}"; case ${rmw_ota} in cyclone) export CYCLONEDDS_URI="file://${ota_config_file}";; fastdds) export FASTDDS_DEFAULT_PROFILES_FILE="${ota_config_file}"; export RMW_FASTRTPS_USE_QOS_FROM_XML=1;; esac; fi
         # For zenoh_ros2dds the OTA domain is loopback-only (zenoh is the inter-host
         # transport), so confine discovery to localhost instead of statically peering
         # the remote host — otherwise the OTA-domain DDS double-delivers alongside zenoh.

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/src/rosotacom_dev.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev3
+Version: 2.5.dev5
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/src/rosotacom_dev.egg-info/scm_version.json

@@ -1,7 +1,7 @@
 {
   "tag": "2.4",
-  "distance": 3,
-  "node": "g07f0fe6e171dd825cb669cb2bb14ca0ee6fb0b98",
+  "distance": 5,
+  "node": "g2db6a1794812988e71dc78ca58f76a5556d868b2",
   "dirty": false,
   "branch": "HEAD",
   "node_date": "2026-08-09"

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/tests/unit/test_cli.py

@@ -1817,10 +1817,33 @@ def test_container_scripts_run_through_the_interpreter() -> None:
 
     Asserted as a property rather than as one literal command, so a second
     script added later fails here instead of on a machine.
+
+    The first version of this test looked only at `cli.py`, and the session
+    templates carried two more of exactly the same call — `get_ota_xml.py` and
+    `create_zenoh_json5.py`. Those failed the same way and cost the same
+    bring-up a second time: the redirect made the failure silent, leaving a
+    zero-byte DDS profile, so the symptom was an unexplained XML parser error
+    and an OTA layer that never came up. Anything that runs inside a container
+    is in scope here, not just what `cli.py` spawns.
     """
     assert rosotacom.RUN_SESSION_CONTAINER_ARGV[0] == "python3"
     assert rosotacom.RUN_SESSION_CONTAINER_ARGV[1].endswith("/run_session.py")
 
+    # The session content templates run commands in the container too, and a
+    # failure there is worse than an exec error: the call is redirected into a
+    # config file, so a non-executable script leaves an empty one and the next
+    # component reports a parse error instead of a missing interpreter.
+    content = Path(rosotacom.__file__).parent / "resources" / "ws" / "session" / "content"
+    for template in sorted(content.rglob("*.yaml")):
+        text = template.read_text(encoding="utf-8")
+        for match in re.finditer(r"(?<![\w/])(/ws/[\w/.-]+\.py)", text):
+            preceding = text[max(0, match.start() - 40) : match.start()]
+            assert "python3 " in preceding, (
+                f"{template.name}: {match.group(1)} is run by path. In a wheel "
+                "install it is not executable, and here the output is "
+                "redirected into a config file, so the failure is silent."
+            )
+
     # And the same for any container script added later. Comment lines are
     # dropped first: the explanation above quotes the failing path, and a test
     # that reads prose as code would fail on the wrong thing.
@@ -1865,6 +1888,29 @@ def test_resolve_session_and_base_extra_run_args(tmp_path: Path, monkeypatch: py
     assert f"{runtime.session_configs_dir[0]}:/session/definitions:ro" in args
     assert f"{runtime.session_instances_dir}:/session/instances" in args
     assert "Configured sessions:" in rosotacom._format_available_sessions(runtime)
+    # A peer shares the host IPC namespace, so it can exchange local-domain
+    # data with application containers on the same machine. See
+    # `_local_ipc_run_args` for what happens without it.
+    assert args[:2] == ["--ipc", "host"]
+
+
+def test_a_peer_shares_the_host_ipc_namespace_unless_isolated() -> None:
+    """Without it, a peer receives nothing from a local application container.
+
+    `--network host` with `ipc=private` gives every container its own
+    /dev/shm. FastDDS sees two participants on one host, chooses shared memory,
+    and the reader never maps the writer's segment. Discovery succeeds, delivery
+    does not, and nothing in the output says so: the link comes up, the
+    heartbeat crosses at 10 Hz with 0% loss, and no payload ever enters it.
+
+    Isolated on 2026-08-09 with two containers from one image on one host:
+    `ipc=private` received 0 messages, `--ipc host` received 200.
+    """
+    assert rosotacom._local_ipc_run_args(network_isolated=False) == ["--ipc", "host"]
+    # Under network isolation it must not be shared: SHM would carry data
+    # straight past the boundary the isolation exists to simulate, and a test
+    # that passes through a hole in its own isolation is worse than none.
+    assert rosotacom._local_ipc_run_args(network_isolated=True) == []
 
 
 def test_container_helpers_use_docker_and_ros2docker_stop(tmp_path: Path, monkeypatch: pytest.MonkeyPatch) -> None:
@@ -1905,7 +1951,7 @@ def test_start_session_detached_dispatches_ros2docker(monkeypatch: pytest.Monkey
     monkeypatch.setattr(
         rosotacom,
         "_base_extra_run_args",
-        lambda runtime, session, cfg, instance: ["--network", "host"],
+        lambda runtime, session, cfg, instance, **kwargs: ["--network", "host"],
     )
     monkeypatch.setattr(rosotacom, "_resolve_mode", lambda mode: "detached")
     monkeypatch.setattr(rosotacom, "_list_docker_containers", lambda all_states=False: [])
@@ -1949,7 +1995,7 @@ def test_start_session_attach_dispatches_command_run(monkeypatch: pytest.MonkeyP
     monkeypatch.setattr(rosotacom, "_effective_session_config", lambda *args, **kwargs: cfg)
     monkeypatch.setattr(rosotacom, "_auto_identity", lambda *args: "a")
     monkeypatch.setattr(rosotacom, "_scoped_image_name", lambda runtime: "image:id")
-    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance: [])
+    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance, **kwargs: [])
     monkeypatch.setattr(rosotacom, "_resolve_mode", lambda mode: "attach")
     monkeypatch.setattr(rosotacom, "_list_docker_containers", lambda all_states=False: [])
     monkeypatch.setattr(rosotacom, "_stop_container_name", lambda *args, **kwargs: True)

{rosotacom_dev-2.5.dev3 → rosotacom_dev-2.5.dev5}/tests/unit/test_concurrency.py

@@ -143,7 +143,7 @@ def _patch_start_session_collaborators(
     monkeypatch.setattr(rosotacom, "_resolve_session", lambda session_dir, runtime: session)
     monkeypatch.setattr(rosotacom, "_effective_session_config", lambda *args, **kwargs: cfg)
     monkeypatch.setattr(rosotacom, "_scoped_image_name", lambda runtime: "image:id")
-    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance: [])
+    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance, **kwargs: [])
     monkeypatch.setattr(rosotacom, "_resolve_mode", lambda mode: "detached")
     monkeypatch.setattr(rosotacom, "_container_exists", lambda name: False)
     monkeypatch.setattr(rosotacom, "_wait_for_container_ready", lambda name: None)