Support ROS 2 Easy Mode (#255)

Carlosespicur · web-flow · commit fcb83bca6b5f · 2025-04-02T11:06:21.000+02:00
* Refs #22871: Add advance options submenu

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Send easy mode info to backend

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Change Advance options button style

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Prevent accepting the dialog with invalid values using Enter key

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Add documentation

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Remove flags

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Update Release notes

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Fix SyncBackendConnection::init_monitor

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Fix compilation with BUILD_MOCK=ON

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

* Refs #22871: Fix spelling.

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;

---------

Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;
diff --git a/docs/rst/figures/screenshots/usage_example/Init_domain.png b/docs/rst/figures/screenshots/usage_example/Init_domain.png
diff --git a/docs/rst/getting_started/monitor.rst b/docs/rst/getting_started/monitor.rst
@@ -40,6 +40,7 @@ No prior knowledge of the network or its architecture is required in order to cr
 monitor that connects with the *Participants* already running in the same network.
 In order to configure this kind of Domain monitoring, only the number of the Domain that is
 going to be tracked is needed.
+Additional options can be configured using the *Advanced Options* button (see :ref:`monitor_advanced_configuration`).
 
 .. _discovery_server_monitor:
 
@@ -70,3 +71,20 @@ In order to clarify how to set this parameter, please visit the
 `Discovery Server CLI tutorial <https://fast-dds.docs.eprosima.com/en/latest/fastddscli/cli/cli.html#discovery>`_.
 The parameter of the Discovery Server *Init New Monitor* button in this application will be used additionally as the
 input to the CLI command.
+
+.. _monitor_advanced_configuration:
+
+Advanced Options
+================
+*Fast DDS Monitor* allows configuring additional parameters using
+the *Advanced Options* button in the *Initialize Monitor* dialog.
+
+In case of enabling some of the supported advanced options, *OK* button will be enabled only if all inputs are correct,
+so user must ensure of introducing the right values.
+
+The list of supported advanced options is the following:
+
+- **Easy Mode**:
+  It allows the user to specify the IP address of the remote discovery server used in a
+  `ROS 2 Easy Mode <https://docs.vulcanexus.org/en/latest/rst/enhancements/easy_mode/easy_mode.html>`_ scenario.
+  In case of enabling this option, the user must introduce a valid IPv4 address in the text input.
diff --git a/docs/rst/notes/forthcoming_version.rst b/docs/rst/notes/forthcoming_version.rst
@@ -5,3 +5,11 @@
 ###################
 Forthcoming Version
 ###################
+
+This release include the following **major changes**:
+
+* Add support to configure ROS 2 Easy Mode.
+
+  - New Advanced Options submenu added to Initialize Monitor dialog.
+  - Easy Mode option added to Advanced Options submenu.
+    User can specify the IPv4 address of the remote discovery server used in a ROS 2 Easy Mode scenario.
diff --git a/docs/rst/notes/notes.rst b/docs/rst/notes/notes.rst
@@ -1,7 +1,7 @@
 .. _release_notes:
 
 .. TODO uncomment when there are forthcoming notes
-.. .. include:: forthcoming_version.rst
+.. include:: forthcoming_version.rst
 
 ##############
 Version v3.1.0
diff --git a/docs/rst/spelling_wordlist.txt b/docs/rst/spelling_wordlist.txt
@@ -21,6 +21,7 @@ eProsima
 Foonathan
 gtest
 GTest
+IPv
 localhost
 metatraffic
 middleware
@@ -31,6 +32,7 @@ QoS
 resizable
 ros
 scalable
+submenu
 subpanel
 subpanels
 Todo
diff --git a/include/fastdds_monitor/Controller.h b/include/fastdds_monitor/Controller.h
@@ -23,6 +23,7 @@
 #define _EPROSIMA_FASTDDS_MONITOR_CONTROLLER_H
 
 #include <QDebug>
+#include <QMap>
 #include <QObject>
 #include <QtCharts/QVXYModelMapper>
 
@@ -80,7 +81,8 @@ public slots:
 
     //! Slot called by init a monitor with a domain number
     void init_monitor(
-            int domain);
+            int domain,
+            QVariantMap advanced_options);
 
     //! Slot called when initializing a monitor for a Discovery Server network
     void init_monitor(
diff --git a/include/fastdds_monitor/Engine.h b/include/fastdds_monitor/Engine.h
@@ -141,9 +141,11 @@ class Engine : public QQmlApplicationEngine
     /**
      * @brief Initialize a monitor in a domain by number
      * @param domain number of the domain
+     * @param easy_mode_ip IP address of the remote discovery server used in ROS2 Easy Mode.
      */
     void init_monitor(
-            int domain);
+            int domain,
+            std::string easy_mode_ip = "");
 
     /**
      * @brief Initialize a monitor in a domain by discovery server locators
diff --git a/include/fastdds_monitor/backend/SyncBackendConnection.h b/include/fastdds_monitor/backend/SyncBackendConnection.h
@@ -78,10 +78,12 @@ class SyncBackendConnection
      * Calls the Backend \c init_monitor method in order to initialize a new monitor in a new Domain
      *
      * @param domain new domain number
+     * @param easy_mode_ip IP address of the remote discovery server used in ROS2 Easy Mode.
      * @return EntityId of the new Domain Entity created
      */
     EntityId init_monitor(
-            int domain);
+            int domain,
+            std::string easy_mode_ip = "");
 
     /**
      * @brief Init a monitor by setting a string with one or many locators of Discovery Servers
diff --git a/mock/complex_mock/StatisticsBackend.cpp b/mock/complex_mock/StatisticsBackend.cpp
@@ -72,8 +72,10 @@ EntityId StatisticsBackend::init_monitor(
         CallbackMask callback_mask,
         DataKindMask data_mask,
         std::string app_id,
-        std::string app_metadata)
+        std::string app_metadata,
+        std::string easy_mode_ip)
 {
+    static_cast<void>(easy_mode_ip);
     return init_monitor(std::to_string(domain), domain_listener, callback_mask, data_mask, app_id, app_metadata);
 }
 
diff --git a/mock/static_mock/StatisticsBackend.cpp b/mock/static_mock/StatisticsBackend.cpp
@@ -90,14 +90,16 @@ EntityId StatisticsBackend::init_monitor(
         CallbackMask callback_mask,
         DataKindMask data_mask,
         std::string app_id,
-        std::string app_metadata)
+        std::string app_metadata,
+        std::string easy_mode_ip)
 {
     static_cast<void>(domain);
     static_cast<void>(domain_listener);
     static_cast<void>(callback_mask);
     static_cast<void>(data_mask);
     static_cast<void>(app_id);
     static_cast<void>(app_metadata);
+    static_cast<void>(easy_mode_ip);
     return EntityId(++ID);
 }
 
diff --git a/qml/InitMonitorDialog.qml b/qml/InitMonitorDialog.qml
@@ -23,30 +23,215 @@ import Theme 1.0
 
 Dialog {
     id: dialogInitMonitor
+
+    readonly property int layout_vertical_spacing_: 10 // vertical spacing between the components in a row
+    readonly property int layout_horizontal_spacing_: 15 // horizontal spacing between rows
+    readonly property int item_height_: 40 // Height of header item and each item of
+                                           // advanced options submenu (title + options)
+    readonly property int dialog_width_: 300 // Width of the dialog
+
     modal: true
-    title: "Initialize Monitor"
-    standardButtons: Dialog.Ok | Dialog.Cancel
+
+    header: Item {
+        width: parent.width
+        height: item_height_
+        Rectangle {
+            color: "transparent"
+            width: parent.width
+            height: parent.height
+            Text {
+                topPadding: 5
+                text: "Initialize Monitor"
+                font.pointSize: 15
+                anchors.centerIn: parent
+            }
+        }
+    }
+
+    footer: DialogButtonBox {
+        id: dialogButtons
+        standardButtons: Dialog.Ok | Dialog.Cancel
+    }
 
     x: (parent.width - width) / 2
     y: (parent.height - height) / 2
+    width: dialog_width_
 
     onAccepted: {
-        controller.init_monitor(simpleDiscoveryAnswer.value)
+        let advancedOptions = {}
+        if (easyModeOptionCheckBox.checked) {
+            advancedOptions["easy_mode_ip"] = easyModeOptionTextInput.text
+        }
+        controller.init_monitor(simpleDiscoveryAnswer.value, advancedOptions)
     }
 
-    RowLayout {
+    contentItem: ColumnLayout {
+        spacing: layout_horizontal_spacing_
 
-        Label {
-            text: "DDS Domain: "
+        Row {
+            spacing: dialogInitMonitor.layout_vertical_spacing_
+
+            Label {
+                text: "DDS Domain: "
+                anchors.verticalCenter: parent.verticalCenter
+            }
+
+            SpinBox {
+                id: simpleDiscoveryAnswer
+                anchors.verticalCenter: parent.verticalCenter
+                editable: true
+                value: 0
+                from: 0
+                to: 232
+                Layout.alignment: Qt.AlignTop
+                Keys.onReturnPressed: {
+                    // Prevent accepting the dialog if OK button is disabled
+                    if (dialogButtons.standardButton(Dialog.Ok).enabled) {
+                        dialogInitMonitor.accept()
+                    }
+                }
+            }
         }
-        SpinBox {
-            id: simpleDiscoveryAnswer
-            editable: true
-            value: 0
-            from: 0
-            to: 232
-            Layout.alignment: Qt.AlignTop
-            Keys.onReturnPressed: dialogInitMonitor.accept()
+
+        Rectangle {
+
+            id: advancedOptionsSubmenu
+            color: "transparent"
+
+            property bool isExpanded: false
+            readonly property int item_height_: dialogInitMonitor.item_height_
+            readonly property int collapsed_options_box_height_: item_height_
+            readonly property int options_box_body_height_: item_height_
+            readonly property int expanded_options_box_height_: collapsed_options_box_height_ + options_box_body_height_
+
+            Layout.fillWidth: true
+            Layout.preferredHeight: isExpanded
+                ? expanded_options_box_height_ + 20
+                : collapsed_options_box_height_ + 20
+
+            Column {
+                anchors.fill: parent
+                spacing: layout_horizontal_spacing_
+                RowLayout {
+                    width: parent.width
+
+                    Rectangle {
+                        Layout.fillWidth: true
+                        height: 2
+                        color: Theme.lightGrey
+                    }
+
+                    Rectangle {
+                        width: 175
+                        height: 30
+                        radius: 15
+                        color: advancedOptionsMouseArea.containsMouse ? Theme.grey : "transparent"
+                        Row {
+                            anchors.verticalCenter: parent.verticalCenter
+                            spacing: dialogInitMonitor.layout_vertical_spacing_
+                            leftPadding: 10
+
+                            IconSVG {
+                            anchors.verticalCenter: parent.verticalCenter
+                            name: advancedOptionsSubmenu.isExpanded ? "cross" : "plus"
+                            size: 12
+                            color: advancedOptionsMouseArea.containsMouse ? "white" : "grey"
+                            }
+
+                            Label {
+                                anchors.verticalCenter: parent.verticalCenter
+                                text: "Advanced options"
+                                color: advancedOptionsMouseArea.containsMouse ? "white" : "grey"
+                            }
+                        }
+
+                        MouseArea {
+                            id: advancedOptionsMouseArea
+                            width: parent.width
+                            height: parent.height
+                            hoverEnabled: true
+                            onClicked: {
+                                advancedOptionsSubmenu.isExpanded = !advancedOptionsSubmenu.isExpanded
+                            }
+                        }
+                    }
+                }
+
+                Column {
+                    width: parent.width
+                    visible: advancedOptionsSubmenu.isExpanded
+                    height: advancedOptionsSubmenu.isExpanded ? advancedOptionsSubmenu.item_height_ : 0
+                    spacing: dialogInitMonitor.layout_horizontal_spacing_
+
+                    Row {
+                        id: easyModeOption
+                        spacing: dialogInitMonitor.layout_vertical_spacing_
+                        CheckBox {
+                            id: easyModeOptionCheckBox
+                            text: "Easy Mode"
+                            checked: false
+
+                            indicator: Rectangle {
+                                implicitWidth: 16
+                                implicitHeight: 16
+                                anchors.verticalCenter: parent.verticalCenter
+                                border.color: Theme.grey
+                                border.width: 2
+                                Rectangle {
+                                    visible: easyModeOptionCheckBox.checked
+                                    color: Theme.eProsimaLightBlue
+                                    radius: 1
+                                    anchors.margins: 3
+                                    anchors.fill: parent
+                                }
+                            }
+
+                            onCheckedChanged: {
+                                if (!checked)
+                                {
+                                    dialogButtons.standardButton(Dialog.Ok).enabled = true
+                                }
+                                else
+                                {
+                                    easyModeOptionTextInput.validateInputTest()
+                                }
+                            }
+                        }
+
+                        TextField {
+                            id: easyModeOptionTextInput
+                            enabled: easyModeOptionCheckBox.checked
+                            selectByMouse: true
+                            placeholderText: "IPv4 Address"
+                            width: 130
+                            height: 5/6*advancedOptionsSubmenu.item_height_
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            validator: RegExpValidator {
+                                regExp: /^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?))$/
+                            }
+
+                            background: Rectangle {
+                                color: !easyModeOptionCheckBox.checked ? "#a0a0a0" : Theme.whiteSmoke
+                                border.color: !easyModeOptionCheckBox.checked ? Theme.grey :
+                                    easyModeOptionTextInput.acceptableInput ? "lightgreen" : "salmon"
+                            }
+
+                            onTextChanged: {
+                                validateInputTest()
+                            }
+
+                            function validateInputTest() {
+                                if (acceptableInput) {
+                                    dialogButtons.standardButton(Dialog.Ok).enabled = true
+                                } else {
+                                    dialogButtons.standardButton(Dialog.Ok).enabled = false
+                                }
+                            }
+                        }
+                    }
+                }
+            }
         }
     }
 }
diff --git a/src/Controller.cpp b/src/Controller.cpp
@@ -28,9 +28,17 @@
 #include <fastdds_monitor/utils.h>
 
 void Controller::init_monitor(
-        int domain)
-{
-    engine_->init_monitor(domain);
+        int domain,
+        QVariantMap advanced_options)
+{
+    /* Create engine input parameters from advance options */
+    // ROS2 Easy Mode IP
+    std::string easy_mode_ip = "";
+    if (advanced_options.contains("easy_mode_ip"))
+    {
+        easy_mode_ip = advanced_options["easy_mode_ip"].toString().toStdString();
+    }
+    engine_->init_monitor(domain, easy_mode_ip);
 }
 
 void Controller::init_monitor(
diff --git a/src/Engine.cpp b/src/Engine.cpp
diff --git a/src/backend/SyncBackendConnection.cpp b/src/backend/SyncBackendConnection.cpp

Original file line number	Diff line number	Diff line change
`@@ -72,8 +72,10 @@ EntityId StatisticsBackend::init_monitor(`
`72`	`72`	`CallbackMask callback_mask,`
`73`	`73`	`DataKindMask data_mask,`
`74`	`74`	`std::string app_id,`
`75`		`- std::string app_metadata)`
	`75`	`+ std::string app_metadata,`
	`76`	`+ std::string easy_mode_ip)`
`76`	`77`	`{`
	`78`	`+ static_cast<void>(easy_mode_ip);`
`77`	`79`	`return init_monitor(std::to_string(domain), domain_listener, callback_mask, data_mask, app_id, app_metadata);`
`78`	`80`	`}`
`79`	`81`