Update domain_id API

e2studio_project_freeRTOS/src/net_thread_entry.c

@@ -132,13 +132,15 @@ void send_micro_ros_profiling_data(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "profiling_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "profiling_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;

test/micro_ros_renesas_testbench/client_tests/ComplexSubscriber.c

@@ -44,13 +44,13 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher

test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c

@@ -19,13 +19,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;

test/micro_ros_renesas_testbench/client_tests/Domain.c

@@ -23,11 +23,11 @@ std_msgs__msg__Int32 msg;
 
 void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 {
-	(void) last_call_time;
-	if (timer != NULL) {
-		rcl_publish(&publisher, &msg, NULL);
-		msg.data++;
-	}
+    (void) last_call_time;
+    if (timer != NULL) {
+        rcl_publish(&publisher, &msg, NULL);
+        msg.data++;
+    }
 }
 
 void microros_app(void)
@@ -36,38 +36,40 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
-
-	// create node
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
-
-	// create publisher
-	rclc_publisher_init_default(
-		&publisher,
-		&node,
-		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
-		"test_publisher_domain");
-
-	// create timer,
-	rcl_timer_t timer;
-	const unsigned int timer_timeout = 1000;
-	rclc_timer_init_default(
-		&timer,
-		&support,
-		RCL_MS_TO_NS(timer_timeout),
-		timer_callback);
-
-	// create executor
-	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
-	rclc_executor_init(&executor, &support.context, 1, &allocator);
-	rclc_executor_add_timer(&executor, &timer);
-
-	msg.data = 0;
-
-  	for(;;){
+
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
+
+    // create publisher
+    rclc_publisher_init_default(
+        &publisher,
+        &node,
+        ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+        "test_publisher_domain");
+
+    // create timer,
+    rcl_timer_t timer;
+    const unsigned int timer_timeout = 1000;
+    rclc_timer_init_default(
+        &timer,
+        &support,
+        RCL_MS_TO_NS(timer_timeout),
+        timer_callback);
+
+    // create executor
+    rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
+    rclc_executor_init(&executor, &support.context, 1, &allocator);
+    rclc_executor_add_timer(&executor, &timer);
+
+    msg.data = 0;
+
+      for(;;){
         rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
         sleep_ms(10);
     }

test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c

@@ -16,14 +16,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-	// create node
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
+    // create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher reliable
     rcl_publisher_t publisher_reliable;

test/micro_ros_renesas_testbench/client_tests/EntityCreation.c

@@ -18,7 +18,11 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // create nodes
     rcl_node_t nodes[ENTITY_NUMBER];
@@ -29,9 +33,7 @@ void microros_app(void)
         snprintf(buf_namespace, 100, "ns_%d", i);
 
         // create node
-        rcl_node_options_t node_ops = rcl_node_get_default_options();
-        node_ops.domain_id = (size_t)(DOMAIN_ID);
-	    rclc_node_init_with_options(&nodes[i], buf_name, buf_namespace, &support, &node_ops);
+        rclc_node_init_default(&nodes[i], buf_name, buf_namespace, &support);
     }
 
     // create publishers

test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c

@@ -31,7 +31,11 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // create nodes
     for(size_t i = 0; i < ENTITY_NUMBER; i++){
@@ -41,9 +45,7 @@ void microros_app(void)
         snprintf(buf_namespace, 100, "ns_%d", i);
 
         // create node
-        rcl_node_options_t node_ops = rcl_node_get_default_options();
-        node_ops.domain_id = (size_t)(DOMAIN_ID);
-        rclc_node_init_with_options(&nodes[i], buf_name, buf_namespace, &support, &node_ops);
+        rclc_node_init_default(&nodes[i], buf_name, buf_namespace, &support);
     }
 
     // create publishers
@@ -95,6 +97,6 @@ void microros_app(void)
     {
         rcl_publisher_fini(&publishers[i], &nodes[i]);
         rcl_subscription_fini(&subscribers[i], &nodes[i]);
-	    rcl_node_fini(&nodes[i]);
+        rcl_node_fini(&nodes[i]);
     }
 }

test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c

@@ -27,13 +27,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publishers
     rcl_publisher_t publishers[ENTITY_NUMBER];

test/micro_ros_renesas_testbench/client_tests/Parameters.c

@@ -16,15 +16,17 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-  	// Create parameter service
+    // create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
+
+      // Create parameter service
     rclc_parameter_server_t param_server;
     rclc_parameter_server_init_default(&param_server, &node);
 

test/micro_ros_renesas_testbench/client_tests/Ping.c

@@ -17,15 +17,17 @@ void microros_app(void)
     // micro-ROS app
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    // create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node_ping", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // Create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node_ping", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;

test/micro_ros_renesas_testbench/client_tests/Publisher.c

@@ -14,15 +14,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    //create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // Create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;

test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c

@@ -20,14 +20,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // Create node
     rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "char_long_sequence_publisher_rcl", "", &support, &node_ops);
+    rclc_node_init_default(&node, "char_long_sequence_publisher_rcl", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;

test/micro_ros_renesas_testbench/client_tests/PublisherRate.c

@@ -33,15 +33,17 @@ void microros_app(void)
     // micro-ROS app
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    // create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
-	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // Create node
+    rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rclc_publisher_init_best_effort(

test/micro_ros_renesas_testbench/client_tests/RTT.c

@@ -34,14 +34,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // Create node
     rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // Create publisher
     rclc_publisher_init_default(