rosotacom-dev 2.5.dev83__py3-none-any.whl → 2.5.dev85__py3-none-any.whl

rosotacom/cli.py

@@ -7144,9 +7144,22 @@ def _smoke_rmw_spec(cfg: dict[str, Any]) -> Any:
     return session_gen._parse_rmw_block(shared.get("rmw"), list(peers.keys()))
 
 
-def _smoke_rmw_env_value(cfg: dict[str, Any]) -> str | None:
-    rmw_spec = _smoke_rmw_spec(cfg)
-    local_impl = rmw_spec.local.impl
+def _smoke_rmw_env_value(cfg: dict[str, Any], receiver_peer_key: str) -> str | None:
+    """The `RMW_IMPLEMENTATION` a publisher on this peer's local domain needs.
+
+    The one the session's own local processes run on, resolved by the rule the
+    generator applies rather than read off `shared.rmw.local`: a session that
+    names only its OTA side still runs cyclone on a bridged local domain, and a
+    publisher given nothing runs on the image's default instead (#346).
+    """
+    shared = cfg.get("shared", {}) or {}
+    shared = shared if isinstance(shared, dict) else {}
+    local_domain_id = _smoke_local_domain_id(cfg, receiver_peer_key)
+    local_impl = session_gen.effective_local_rmw_impl(
+        _smoke_rmw_spec(cfg).local.impl,
+        int(local_domain_id) if local_domain_id is not None else None,
+        session_gen._parse_optional_domain_id(shared.get("ota_domain_id"), "shared.ota_domain_id"),
+    )
     if local_impl is None:
         return None
     return str(session_gen.RMW_ALIASES.get(local_impl, local_impl))
@@ -7179,7 +7192,16 @@ def _smoke_local_domain_id(cfg: dict[str, Any], receiver_peer_key: str) -> str |
 
 
 def _smoke_local_config_commands(config_container_dir: str, cfg: dict[str, Any], receiver_peer_key: str) -> list[str]:
-    local = _smoke_rmw_spec(cfg).local
+    """The DDS profile a publisher on the local domain reads, when the session renders one.
+
+    A session that names no local profile renders none, whatever its OTA side
+    reads: on the scoped Cyclone arrangement the relay, the wrappers and the
+    observers export no `CYCLONEDDS_URI` either, and a publisher on the inline
+    default beside them delivers on CycloneDDS 11 once it is on their RMW
+    (measured under Lyrical, #346).
+    """
+    spec = _smoke_rmw_spec(cfg)
+    local = spec.local
     if not local.dds_config:
         return []
     config_file = f"{config_container_dir}/{receiver_peer_key}/local_dds.xml"
@@ -7201,7 +7223,7 @@ def _smoke_ros_setup(config_container_dir: str, cfg: dict[str, Any], receiver_pe
         "{ [ ! -f /opt/custom_ws/install/setup.bash ] || source /opt/custom_ws/install/setup.bash; }",
         "{ [ ! -f /ros2ws/install/setup.bash ] || source /ros2ws/install/setup.bash; }",
     ]
-    rmw_env = _smoke_rmw_env_value(cfg)
+    rmw_env = _smoke_rmw_env_value(cfg, receiver_peer_key)
     if rmw_env:
         commands.append(f"export RMW_IMPLEMENTATION={shlex.quote(rmw_env)}")
         if rmw_env == "rmw_fastrtps_cpp":

rosotacom/resources/ws/session/creation/generate_session_files.py

@@ -255,6 +255,24 @@ _DDS_LOCAL_DEFAULT_CONFIG = {
 }
 
 
+def effective_local_rmw_impl(
+    local_impl: Optional[str], local_domain_id: Optional[int], ota_domain_id: Optional[int]
+) -> Optional[str]:
+    """The RMW a peer's local-domain processes run on.
+
+    The stock `domain_bridge` binary needs a deterministic DDS RMW, so a peer
+    that bridges its local domain into a separate OTA domain runs cyclone
+    locally unless the session names another. Whatever is started on that
+    domain beside the session has to be put on the same one: a probe publisher
+    that was given no `RMW_IMPLEMENTATION` ran on the image's default (Fast DDS
+    in the Lyrical image) next to a session on cyclone (#346).
+    """
+    bridged = local_domain_id is not None and ota_domain_id is not None and local_domain_id != ota_domain_id
+    if local_impl is None and bridged:
+        return "cyclone"
+    return local_impl
+
+
 def _validate_positive_seconds(value: str, ctx: str) -> None:
     text = value.strip().lower()
     match = re.fullmatch(r"(\d+(?:\.\d+)?)\s*(ms|s)?", text)
@@ -2276,12 +2294,7 @@ def func(
     def _build_local_rmw_items(peer: str) -> List[Tuple[str, Any]]:
         """Plugin.yaml block for local-side RMW (rmw_local + optional DDS config)."""
         side = rmw_spec.local
-        # Effective impl: the stock `domain_bridge` binary needs a
-        # deterministic DDS RMW. Fall back to cyclone when split-domain
-        # bridging is in play on this peer but the user didn't pin a local RMW.
-        effective_impl = side.impl
-        if effective_impl is None and _use_domain_bridge(peer):
-            effective_impl = "cyclone"
+        effective_impl = effective_local_rmw_impl(side.impl, peer_local_domain_id[peer], ota_domain_id)
         items: List[Tuple[str, Any]] = []
         if effective_impl is not None:
             items.append(("rmw_local", effective_impl))

{rosotacom_dev-2.5.dev83.dist-info → rosotacom_dev-2.5.dev85.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev83
+Version: 2.5.dev85
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev83.dist-info → rosotacom_dev-2.5.dev85.dist-info}/RECORD

@@ -6,7 +6,7 @@ rosotacom/benched_set.py,sha256=lBA1Rj04dbr2e-lIvYTWoL55_LdUpCAC-y7eIvJZ8lc,2721
 rosotacom/benchmark.py,sha256=3QoXJtWUGQPwvDWyQT_fOjx6K9G2pmvtnVurA21G2QY,76612
 rosotacom/benchmark_delta.py,sha256=qXzriBkbXOeJdlLKM4ziov1F-JfwlseYHE48S9hjFsQ,10005
 rosotacom/bundle_check.py,sha256=l_3BSuYk6juXQmsNU6jkxRbH8ayH2GkiW9ONKMQ1oJY,18270
-rosotacom/cli.py,sha256=bva0K-UnwzapfVpI2M4Eu_KxS--NLLftzhCv8YQ2EGg,451959
+rosotacom/cli.py,sha256=7cfQ8UMdDD0uXQjKLUNF7Ife2IrH0f9ZgW5Z5Mo4eEs,453226
 rosotacom/cli_benchmark.py,sha256=LsSwy42afqLv7euMVg5l_E9G1HHI0IyNWGQ_UDfFz0Y,356428
 rosotacom/deployment.py,sha256=XVhB8JjxhAsglSEEPtiVSeV6fCG0rgGmDRulh14oIYQ,7318
 rosotacom/ffmpeg_packet.py,sha256=zB1BHgY1kexr5sETVMkm4bkVnRytj9k2t0uOYiHUZ6M,4267
@@ -201,13 +201,13 @@ rosotacom/resources/ws/session/content/network/wifi_network_analysis_2.py,sha256
 rosotacom/resources/ws/session/creation/anonymize_bag.py,sha256=jxOTKFjmde-pyoVWE9-9icpSjf4nh97-q2Eqx-BDUl8,6154
 rosotacom/resources/ws/session/creation/catmux_log_setup.sh,sha256=VyBAFqmhQcIziSnDCRDNUsT5QpbLzKWU-DqRzaj_WQs,5243
 rosotacom/resources/ws/session/creation/create_session_yaml.py,sha256=8cfzkUxK7IebIBC36Vu7lcWtogM8fG0zveBCUGeiVdU,5727
-rosotacom/resources/ws/session/creation/generate_session_files.py,sha256=3Sx4xTSuVKLhJpOCpU5gfvFEjjpU0hrWzcFAoO0xIMs,162694
+rosotacom/resources/ws/session/creation/generate_session_files.py,sha256=HxYnS6x-rF1KIZY_5Q2b3ezP0kW4C6-sRl0en61WTKU,163292
 rosotacom/resources/ws/session/creation/run_session.py,sha256=G2hJhrmLp11gm3JZ6_C-zZcqu_reXlE_wmobB7BiCfU,16849
 rosotacom/resources/ws/session/creation/run_session_in_external_terminal.py,sha256=Ub_5f-ttUUc-rAPrZmg_Op34s8Z4C91hTyEn8fgyt-E,2633
 rosotacom/resources/ws/session/creation/strip_ansi.py,sha256=vNjpemcq4xHr0VG4x0bZqvgwEBEfOgN-b4PzbrM5nfM,851
-rosotacom_dev-2.5.dev83.dist-info/licenses/LICENSE.txt,sha256=FDB3-fao3lqZ94wsJHKAH7U88kAnfvZhZC8Hm5rN__g,1459
-rosotacom_dev-2.5.dev83.dist-info/METADATA,sha256=qMaFIUOcgQlyYNW4Cp-tJx9O26eyge_qBvxH6AASNUg,58884
-rosotacom_dev-2.5.dev83.dist-info/WHEEL,sha256=YVMoNqKzERt-wjUZwJ33xBGAwnFl-4cqbYkTtWa4itE,91
-rosotacom_dev-2.5.dev83.dist-info/entry_points.txt,sha256=im11ZWqBbgjQUBz2Ik2RNfMu54wlMwgiVpsBKeI7dCI,49
-rosotacom_dev-2.5.dev83.dist-info/top_level.txt,sha256=BZrtQcIVDWn_pQZR3Mlssqy5SaRXHjOa6B-1D9Fy4Ao,10
-rosotacom_dev-2.5.dev83.dist-info/RECORD,,
+rosotacom_dev-2.5.dev85.dist-info/licenses/LICENSE.txt,sha256=FDB3-fao3lqZ94wsJHKAH7U88kAnfvZhZC8Hm5rN__g,1459
+rosotacom_dev-2.5.dev85.dist-info/METADATA,sha256=JB4JUfh2kQxNx1Ovf0XxVEWcWIbC7EEQfGbrXImg588,58884
+rosotacom_dev-2.5.dev85.dist-info/WHEEL,sha256=YVMoNqKzERt-wjUZwJ33xBGAwnFl-4cqbYkTtWa4itE,91
+rosotacom_dev-2.5.dev85.dist-info/entry_points.txt,sha256=im11ZWqBbgjQUBz2Ik2RNfMu54wlMwgiVpsBKeI7dCI,49
+rosotacom_dev-2.5.dev85.dist-info/top_level.txt,sha256=BZrtQcIVDWn_pQZR3Mlssqy5SaRXHjOa6B-1D9Fy4Ao,10
+rosotacom_dev-2.5.dev85.dist-info/RECORD,,