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Add alternative domain API configuration #186

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merged 2 commits into from
Nov 4, 2021
Merged

Add alternative domain API configuration #186

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bd10d2e
Add selection of domain_id
Acuadros95 Nov 3, 2021
3d6b1ba
Get domain id from init options
Acuadros95 Nov 3, 2021
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1 change: 1 addition & 0 deletions rmw_microxrcedds_c/src/rmw_init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -163,6 +163,7 @@ rmw_init(
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
context->instance_id = options->instance_id;
context->implementation_identifier = eprosima_microxrcedds_identifier;
context->options.domain_id = options->domain_id;

rmw_uxrce_init_session_memory(&session_memory, custom_sessions, RMW_UXRCE_MAX_SESSIONS);
rmw_uxrce_init_static_input_buffer_memory(
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4 changes: 3 additions & 1 deletion rmw_microxrcedds_c/src/rmw_node.c
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Expand Up @@ -134,14 +134,16 @@ rmw_create_node(
size_t domain_id,
bool localhost_only)
{
(void)context;
(void)localhost_only;
rmw_node_t * rmw_node = NULL;
if (!name || strlen(name) == 0) {
RMW_SET_ERROR_MSG("name is null");
} else if (!namespace_ || strlen(namespace_) == 0) {
RMW_SET_ERROR_MSG("namespace is null");
} else {
if (domain_id == 0 && context->options.domain_id != 0) {
domain_id = context->options.domain_id;
}
rmw_node = create_node(name, namespace_, domain_id, context);
}
return rmw_node;
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