From 2a9aff811ce8ddcd4b5adb676136f0a42a35379b Mon Sep 17 00:00:00 2001
From: Scott K Logan <logans@cottsay.net>
Date: Tue, 8 Aug 2023 11:43:49 -0500
Subject: [PATCH] Initial implementation (#1)

---
 README.rst                                    |  3 +
 .../shell/__init__.py                         |  0
 .../shell/ros_domain_id.py                    | 88 +++++++++++++++++++
 setup.cfg                                     |  2 +
 test/spell_check.words                        |  7 ++
 5 files changed, 100 insertions(+)
 create mode 100644 colcon_ros_domain_id_coordinator/shell/__init__.py
 create mode 100644 colcon_ros_domain_id_coordinator/shell/ros_domain_id.py

diff --git a/README.rst b/README.rst
index 551e59a..1831f13 100644
--- a/README.rst
+++ b/README.rst
@@ -2,3 +2,6 @@ colcon-ros-domain-id-coordinator
 ================================
 
 An extension for `colcon-core <https://github.com/colcon/colcon-core>`_ to coordinate different DDS `domain IDs <https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Domain-ID.html>`_ for concurrently running tasks.
+
+The current implementation of this package cycles through all of the non-default ROS 2 domain IDs that should be available on a platform given that it has no special network configurations.
+It does not track which task uses the domain IDs and therefore does not eliminate the possibility of a collision, but drastically reduces the likelihood that two tasks end up using the same domain ID.
diff --git a/colcon_ros_domain_id_coordinator/shell/__init__.py b/colcon_ros_domain_id_coordinator/shell/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/colcon_ros_domain_id_coordinator/shell/ros_domain_id.py b/colcon_ros_domain_id_coordinator/shell/ros_domain_id.py
new file mode 100644
index 0000000..99551b3
--- /dev/null
+++ b/colcon_ros_domain_id_coordinator/shell/ros_domain_id.py
@@ -0,0 +1,88 @@
+# Copyright 2023 Open Source Robotics Foundation, Inc.
+# Licensed under the Apache License, Version 2.0
+
+from asyncio import Queue
+from asyncio import QueueEmpty
+import os
+from pathlib import Path
+import platform
+from random import shuffle
+
+from colcon_core.plugin_system import satisfies_version
+from colcon_core.plugin_system import SkipExtensionException
+from colcon_core.shell import logger
+from colcon_core.shell import ShellExtensionPoint
+
+
+class ROSDomainIDShell(ShellExtensionPoint):
+    """Set a different ROS_DOMAIN_ID environment variable for each task."""
+
+    # The priority should be higher than any usable shells
+    PRIORITY = 900
+
+    def __init__(self):  # noqa: D107
+        super().__init__()
+        satisfies_version(ShellExtensionPoint.EXTENSION_POINT_VERSION, '^2.2')
+
+        self.free_ids = Queue()
+
+        all_ids = []
+        system = platform.system()
+
+        # TODO(cottsay): Determine usable IDs based on the system's
+        #                network configuration
+        if system in ('Darwin', 'Windows'):
+            all_ids.extend(range(1, 167))
+        else:
+            all_ids.extend(range(1, 102))
+            all_ids.extend(range(215, 233))
+
+        shuffle(all_ids)
+        for i in all_ids:
+            self.free_ids.put_nowait(str(i))
+
+    def get_file_extensions(self):  # noqa: D102
+        return ()
+
+    def create_prefix_script(self, prefix_path, merge_install):  # noqa: D102
+        return []
+
+    def create_package_script(  # noqa: D102
+        self, prefix_path, pkg_name, hooks
+    ):
+        return []
+
+    def create_hook_set_value(  # noqa: D102
+        self, env_hook_name, prefix_path, pkg_name, name, value,
+    ):
+        return Path('ros_domain_id')
+
+    def create_hook_append_value(  # noqa: D102
+        self, env_hook_name, prefix_path, pkg_name, name, subdirectory,
+    ):
+        return Path('ros_domain_id')
+
+    def create_hook_prepend_value(  # noqa: D102
+        self, env_hook_name, prefix_path, pkg_name, name, subdirectory,
+    ):
+        return Path('ros_domain_id')
+
+    async def generate_command_environment(  # noqa: D102
+        self, task_name, build_base, dependencies,
+    ):
+        try:
+            domain_id = self.free_ids.get_nowait()
+        except QueueEmpty:
+            logger.warn(f"No free ROS_DOMAIN_ID to assign for '{task_name}'")
+            os.environ.pop('ROS_DOMAIN_ID', None)
+            domain_id = None
+        else:
+            os.environ['ROS_DOMAIN_ID'] = domain_id
+            logger.debug(
+                f"Allocated ROS_DOMAIN_ID={domain_id} for '{task_name}'")
+
+            # Place the ID at the end of the FIFO to be reused if needed
+            self.free_ids.put_nowait(domain_id)
+
+        # This extension can't actually perform command environment generation
+        raise SkipExtensionException()
diff --git a/setup.cfg b/setup.cfg
index 49b46b9..2d40ffa 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -49,6 +49,8 @@ test =
 junit_suite_name = colcon-ros-domain-id-coordinator
 
 [options.entry_points]
+colcon_core.shell =
+    ros_domain_id = colcon_ros_domain_id_coordinator.shell.ros_domain_id:ROSDomainIDShell
 
 [flake8]
 import-order-style = google
diff --git a/test/spell_check.words b/test/spell_check.words
index 91e2768..991810c 100644
--- a/test/spell_check.words
+++ b/test/spell_check.words
@@ -1,8 +1,15 @@
 apache
+asyncio
 colcon
+cottsay
+darwin
 iterdir
+noqa
 pathlib
+plugin
+prepend
 pytest
 scspell
 setuptools
 thomas
+todo