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[foxy backport] Keep domain id if ROS_DOMAIN_ID is invalid. (#689) #694

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merged 1 commit into from
Jun 26, 2020
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[foxy backport] Keep domain id if ROS_DOMAIN_ID is invalid. (#689) #694

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14 changes: 10 additions & 4 deletions rcl/src/rcl/domain_id.c
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include "rcl/domain_id.h"

#include <errno.h>
#include <limits.h>

#include "rcutils/get_env.h"
Expand All @@ -40,10 +41,15 @@ rcl_get_default_domain_id(size_t * domain_id)
get_env_error_str);
return RCL_RET_ERROR;
}
if (ros_domain_id) {
unsigned long number = strtoul(ros_domain_id, NULL, 0); // NOLINT(runtime/int)
if (number == ULONG_MAX) {
RCL_SET_ERROR_MSG("failed to interpret ROS_DOMAIN_ID as integral number");
if (ros_domain_id && strcmp(ros_domain_id, "") != 0) {
char * end = NULL;
unsigned long number = strtoul(ros_domain_id, &end, 0); // NOLINT(runtime/int)
if (number == 0UL && *end != '\0') {
RCL_SET_ERROR_MSG("ROS_DOMAIN_ID is not an integral number");
return RCL_RET_ERROR;
}
if ((number == ULONG_MAX && errno == ERANGE) || number > SIZE_MAX) {
RCL_SET_ERROR_MSG("ROS_DOMAIN_ID is out of range");
return RCL_RET_ERROR;
}
*domain_id = (size_t)number;
Expand Down
22 changes: 19 additions & 3 deletions rcl/test/rcl/test_domain_id.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,15 +22,31 @@

TEST(TestGetDomainId, test_nominal) {
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "42"));
size_t domain_id = 0u;
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(42u, domain_id);

ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", ""));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);

ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "0000"));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(0u, domain_id);

ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "0 not really"));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
rcl_reset_error();
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);

ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "998446744073709551615"));
domain_id = 0u;
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
rcl_reset_error();
EXPECT_EQ(0u, domain_id);
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);

EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_default_domain_id(nullptr));
}