Playing around with Fast-DDS and Bundles for Play store release

[sloretz]

This is a work in progress towards compatibility with Android 13
With CycloneDDS on an Android 13 device I saw a bunch of avc events { read } with name "wireless". I assumed this was because CycloneDDS tries to read /proc/net/wireless. I don't see the same events on an Android 30 device. Communication works on the Android 11 device, but silently does not work on the Android 13 device. Fixed on main.

With this I tried switching to Fast-DDS. It comes with a couple problems. The first is the code size is massive and the apk becomes 200Mb. The second is Fast-DDS requires two type supports (even rmw_fastrtps_dynamic_cpp does), so I can't use static linking and LTO to shrink it.

This still does not solve the communication problem on Android 13 device. I see a new avc event with Fast-DDS, although this time I see it on both the Android 11 and Android 13 devices. The communication behavior is the same: I can communicate with the Android 11 device but not the Android 13 device. This makes me think there's something else happening on the Android 13 device. Fixed on Main.

type=1400 audit(0.0:302): avc: denied { ioctl } for path="socket:[366356]" dev="sockfs" ino=366356 ioctlcmd=8927 scontext=u:r:untrusted_app:s0:c7,c257,c512,c768 tcontext=u:r:untrusted_app:s0:c7,c257,c512,c768 tclass=udp_socket permissive=0 app=com.github.sloretz.sensors_for_ros

Next idea: try holding WifiManager.MulticastLock and see if that allows communication? https://developer.android.com/reference/android/net/wifi/WifiManager.MulticastLock

[sloretz]

Problem is cyclonedds is selecting the wrong network. The Android-13 device has a valid sim, while the Android-11 device does not. It was selecting the mobile data network interface instead of the wireless interface. This will need to be configurable.