rosotacom-dev 2.5.dev83__tar.gz → 2.5.dev85__tar.gz

{rosotacom_dev-2.5.dev83 → rosotacom_dev-2.5.dev85}/PKG-INFO

@@ -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 → rosotacom_dev-2.5.dev85}/src/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_dev-2.5.dev83 → rosotacom_dev-2.5.dev85}/src/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 → rosotacom_dev-2.5.dev85}/src/rosotacom_dev.egg-info/PKG-INFO

@@ -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.dev85/src/rosotacom_dev.egg-info/scm_version.json

@@ -0,0 +1,8 @@
+{
+  "tag": "2.4",
+  "distance": 85,
+  "node": "g11e77ffc6f7dc500779a13c8ee18ed667d9954f1",
+  "dirty": false,
+  "branch": "HEAD",
+  "node_date": "2026-09-15"
+}

{rosotacom_dev-2.5.dev83 → rosotacom_dev-2.5.dev85}/tests/unit/test_cli.py

@@ -2645,6 +2645,58 @@ def test_smoke_ros_setup_keeps_explicit_cyclonedds_config() -> None:
     assert "MaxAutoParticipantIndex" not in setup
 
 
+def test_smoke_ros_setup_on_a_scoped_cyclone_arrangement_is_the_environment_measured_to_deliver() -> None:
+    cfg = {
+        "peers": {"a": {}, "b": {}},
+        "peer_settings": {"a": {"domain_id": 50}, "b": {"domain_id": 51}},
+        "shared": {"ota_domain_id": 52, "rmw": {"ota": {"cyclone": {"config": "cyclonedds_scoped.xml"}}}},
+    }
+
+    setup = rosotacom._smoke_ros_setup("/config", cfg, "a")
+
+    # The session renders no local profile, so the publisher keeps the inline
+    # default; on cyclone beside the session that delivered 1486 of 1486 messages
+    # seat -> majestic under Lyrical (#346). The OTA file is not the local one.
+    assert "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" in setup
+    assert "export ROS_DOMAIN_ID=50" in setup
+    assert "MaxAutoParticipantIndex>99<" in setup
+    assert "ota_dds.xml" not in setup
+
+
+def test_smoke_ros_setup_keeps_the_inline_default_beside_an_unscoped_ota_profile() -> None:
+    cfg = {
+        "peers": {"a": {}, "b": {}},
+        "peer_settings": {"a": {"domain_id": 50}, "b": {"domain_id": 51}},
+        "shared": {"ota_domain_id": 52, "rmw": "cyclone"},
+    }
+
+    setup = rosotacom._smoke_ros_setup("/config", cfg, "a")
+
+    assert "ota_dds.xml" not in setup
+    assert "MaxAutoParticipantIndex>99<" in setup
+
+
+def test_smoke_ros_setup_puts_the_publisher_on_the_rmw_the_session_resolves_locally() -> None:
+    """A session that names only its OTA side still runs cyclone on a bridged local
+    domain. The publisher was given no RMW_IMPLEMENTATION there and ran on the
+    image's default beside it (#346)."""
+    scoped = {
+        "peers": {"a": {}, "b": {}},
+        "peer_settings": {"a": {"domain_id": 50}, "b": {"domain_id": 51}},
+        "shared": {"ota_domain_id": 52, "rmw": {"ota": {"cyclone": {"config": "cyclonedds_scoped.xml"}}}},
+    }
+    unbridged = {
+        "peers": {"a": {}, "b": {}},
+        "shared": {"rmw": {"ota": "cyclone"}},
+    }
+
+    for peer in ("a", "b"):
+        assert "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" in rosotacom._smoke_ros_setup("/config", scoped, peer)
+    # Without a bridge the generator renders no local RMW either, so there is
+    # nothing to match and the publisher keeps the image's default.
+    assert "RMW_IMPLEMENTATION" not in rosotacom._smoke_ros_setup("/config", unbridged, "a")
+
+
 def test_smoke_publish_specs_use_source_target_prefix_and_qos() -> None:
     cfg = {
         "peers": {"a": {}, "b": {}},

rosotacom_dev-2.5.dev83/src/rosotacom_dev.egg-info/scm_version.json

@@ -1,8 +0,0 @@
-{
-  "tag": "2.4",
-  "distance": 83,
-  "node": "g5a3561c197b13a9e9d2b6076cde0bc94bfa9afa4",
-  "dirty": false,
-  "branch": "HEAD",
-  "node_date": "2026-09-01"
-}