Removed deprecated localhost_only (#1169)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

rcl/CMakeLists.txt

@@ -53,7 +53,6 @@ set(${PROJECT_NAME}_sources
   src/rcl/init_options.c
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
-  src/rcl/localhost.c
   src/rcl/logging_rosout.c
   src/rcl/logging.c
   src/rcl/log_level.c

rcl/src/rcl/init.c

@@ -31,7 +31,6 @@ extern "C"
 #include "rcl/discovery_options.h"
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
-#include "rcl/localhost.h"
 #include "rcl/logging.h"
 #include "rcl/security.h"
 #include "rcl/validate_enclave_name.h"
@@ -154,85 +153,43 @@ rcl_init(
     }
   }
 
-  rmw_localhost_only_t * localhost_only =
-    &context->impl->init_options.impl->rmw_init_options.localhost_only;
-  if (RMW_LOCALHOST_ONLY_DEFAULT != *localhost_only) {
-    RCUTILS_LOG_WARN_NAMED(
-      ROS_PACKAGE_NAME,
-      "'localhost_only' init option is deprecated but still honored if it is enabled. "
-      "Use 'automatic_discovery_range' and 'static_peers' instead.");
-  } else {
-    // Get actual localhost_only value based on environment variable, if needed.
-    ret = rcl_get_localhost_only(localhost_only);
-    if (RCL_RET_OK != ret) {
-      fail_ret = ret;
-      goto fail;
-    }
-    if (RMW_LOCALHOST_ONLY_DEFAULT != *localhost_only) {
-      RCUTILS_LOG_WARN_NAMED(
-        ROS_PACKAGE_NAME,
-        "ROS_LOCALHOST_ONLY is deprecated but still honored if it is enabled. "
-        "Use ROS_AUTOMATIC_DISCOVERY_RANGE and ROS_STATIC_PEERS instead.");
-    }
-  }
-
   const rmw_discovery_options_t original_discovery_options =
     options->impl->rmw_init_options.discovery_options;
   rmw_discovery_options_t * discovery_options =
     &context->impl->init_options.impl->rmw_init_options.discovery_options;
 
-  // this happens either rmw implementation forces or via environmental variable.
-  // localhost_only is deprecated but still honored to prevail discovery_options.
-  // see https://github.com/ros2/ros2_documentation/pull/3519#discussion_r1186541935
-  // TODO(fujitatomoya): remove localhost_only completely after deprecation period.
-  if (*localhost_only == RMW_LOCALHOST_ONLY_ENABLED) {
-    RCUTILS_LOG_WARN_NAMED(
-      ROS_PACKAGE_NAME,
-      "'localhost_only' is enabled, "
-      "'automatic_discovery_range' and 'static_peers' will be ignored.");
-    discovery_options->automatic_discovery_range = RMW_AUTOMATIC_DISCOVERY_RANGE_LOCALHOST;
-    discovery_options->static_peers_count = 0;
-  } else {
-    if (*localhost_only == RMW_LOCALHOST_ONLY_DISABLED) {
-      RCUTILS_LOG_WARN_NAMED(
-        ROS_PACKAGE_NAME,
-        "'localhost_only' is disabled, "
-        "'automatic_discovery_range' and 'static_peers' will be used.");
-    }
-
-    // Get actual discovery range option based on environment variable, if not given
-    // to original options passed to function
-    if (  // NOLINT
-      RMW_AUTOMATIC_DISCOVERY_RANGE_NOT_SET == original_discovery_options.automatic_discovery_range)
-    {
-      ret = rcl_get_automatic_discovery_range(discovery_options);
-      if (RCL_RET_OK != ret) {
-        fail_ret = ret;
-        goto fail;
-      }
+  // Get actual discovery range option based on environment variable, if not given
+  // to original options passed to function
+  if (  // NOLINT
+    RMW_AUTOMATIC_DISCOVERY_RANGE_NOT_SET == original_discovery_options.automatic_discovery_range)
+  {
+    ret = rcl_get_automatic_discovery_range(discovery_options);
+    if (RCL_RET_OK != ret) {
+      fail_ret = ret;
+      goto fail;
     }
+  }
 
-    if (0 == discovery_options->static_peers_count &&
-      discovery_options->automatic_discovery_range != RMW_AUTOMATIC_DISCOVERY_RANGE_OFF)
-    {
-      // Get static peers.
-      // If off is set, it makes sense to not get any static peers.
-      ret = rcl_get_discovery_static_peers(discovery_options, &allocator);
-      if (RCL_RET_OK != ret) {
-        fail_ret = ret;
-        goto fail;
-      }
+  if (0 == discovery_options->static_peers_count &&
+    discovery_options->automatic_discovery_range != RMW_AUTOMATIC_DISCOVERY_RANGE_OFF)
+  {
+    // Get static peers.
+    // If off is set, it makes sense to not get any static peers.
+    ret = rcl_get_discovery_static_peers(discovery_options, &allocator);
+    if (RCL_RET_OK != ret) {
+      fail_ret = ret;
+      goto fail;
     }
+  }
 
-    if (discovery_options->static_peers_count > 0 &&
-      discovery_options->automatic_discovery_range == RMW_AUTOMATIC_DISCOVERY_RANGE_OFF)
-    {
-      RCUTILS_LOG_WARN_NAMED(
-        ROS_PACKAGE_NAME,
-        "Note: ROS_AUTOMATIC_DISCOVERY_RANGE is set to OFF, but "
-        "found static peers in ROS_STATIC_PEERS. "
-        "ROS_STATIC_PEERS will be ignored.");
-    }
+  if (discovery_options->static_peers_count > 0 &&
+    discovery_options->automatic_discovery_range == RMW_AUTOMATIC_DISCOVERY_RANGE_OFF)
+  {
+    RCUTILS_LOG_WARN_NAMED(
+      ROS_PACKAGE_NAME,
+      "Note: ROS_AUTOMATIC_DISCOVERY_RANGE is set to OFF, but "
+      "found static peers in ROS_STATIC_PEERS. "
+      "ROS_STATIC_PEERS will be ignored.");
   }
 
   const char * discovery_range_string =

rcl/src/rcl/node.c

@@ -22,7 +22,6 @@
 #include "rcl/arguments.h"
 #include "rcl/error_handling.h"
 #include "rcl/init_options.h"
-#include "rcl/localhost.h"
 #include "rcl/logging.h"
 #include "rcl/logging_rosout.h"
 #include "rcl/node_type_cache.h"

rcl/test/CMakeLists.txt

@@ -474,12 +474,6 @@ rcl_add_custom_gtest(test_domain_id
 )
 ament_add_test_label(test_domain_id mimick)
 
-rcl_add_custom_gtest(test_localhost
-  SRCS rcl/test_localhost.cpp
-  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME}
-)
-
 rcl_add_custom_gtest(test_logging
   SRCS rcl/test_logging.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}

rcl/test/rcl/test_discovery_options.cpp

@@ -293,29 +293,6 @@ TEST(TestDiscoveryInfo, test_with_localhost_only) {
   }
 
   {
-    // Only ROS_LOCALHOST_ONLY is enabled
-    ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "1"));
-    check_discovery(RMW_AUTOMATIC_DISCOVERY_RANGE_LOCALHOST, 0);
-  }
-
-  {
-    // ROS_LOCALHOST_ONLY is enabled and prevails over SUBNET.
-    ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "1"));
-    ASSERT_TRUE(rcutils_set_env("ROS_AUTOMATIC_DISCOVERY_RANGE", "SUBNET"));
-    ASSERT_TRUE(rcutils_set_env("ROS_STATIC_PEERS", "192.168.0.1;remote.com"));
-    check_discovery(RMW_AUTOMATIC_DISCOVERY_RANGE_LOCALHOST, 0);
-  }
-
-  {
-    // ROS_LOCALHOST_ONLY is enabled and prevails over OFF.
-    ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "1"));
-    ASSERT_TRUE(rcutils_set_env("ROS_AUTOMATIC_DISCOVERY_RANGE", "OFF"));
-    check_discovery(RMW_AUTOMATIC_DISCOVERY_RANGE_LOCALHOST, 0);
-  }
-
-  {
-    // ROS_LOCALHOST_ONLY is disabled, falls down to use discovery option.
-    ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "0"));
     ASSERT_TRUE(rcutils_set_env("ROS_AUTOMATIC_DISCOVERY_RANGE", "SUBNET"));
     ASSERT_TRUE(rcutils_set_env("ROS_STATIC_PEERS", "192.168.0.1;remote.com"));
     check_discovery(RMW_AUTOMATIC_DISCOVERY_RANGE_SUBNET, 2);