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Add setter and getter for domain_id in rcl_init_options_t (backport #678) #946

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Nov 2, 2021
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Add setter and getter for domain_id in rcl_init_options_t (backport #678) #946

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44 changes: 44 additions & 0 deletions rcl/include/rcl/init_options.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,50 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_init_options_fini(rcl_init_options_t * init_options);

/// Return the domain_id stored in the init options.
/**
* Get the domain id from the specified rcl_init_options_t object.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] init_options object from which the domain id should be retrieved.
* \param[out] domain_id domain id to be set in init_options object.
* \return `RCL_RET_OK` if successful, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_options_get_domain_id(rcl_init_options_t * init_options, size_t * domain_id);

/// Set a domain id in the init options provided.
/**
* Store the domain id in the specified init_options object.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] init_options objects in which to set the specified domain id.
* \param[in] domain_id domain id to be set in init_options object.
* \return `RCL_RET_OK` if successful, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_options_set_domain_id(rcl_init_options_t * init_options, size_t domain_id);

/// Return the rmw init options which are stored internally.
/**
* This function can fail and return `NULL` if:
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19 changes: 19 additions & 0 deletions rcl/src/rcl/init_options.c
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Expand Up @@ -142,6 +142,25 @@ rcl_init_options_fini(rcl_init_options_t * init_options)
return RCL_RET_OK;
}

rcl_ret_t
rcl_init_options_get_domain_id(rcl_init_options_t * init_options, size_t * domain_id)
{
RCL_CHECK_ARGUMENT_FOR_NULL(init_options, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(init_options->impl, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(domain_id, RCL_RET_INVALID_ARGUMENT);
*domain_id = init_options->impl->rmw_init_options.domain_id;
return RCL_RET_OK;
}

rcl_ret_t
rcl_init_options_set_domain_id(rcl_init_options_t * init_options, size_t domain_id)
{
RCL_CHECK_ARGUMENT_FOR_NULL(init_options, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(init_options->impl, RCL_RET_INVALID_ARGUMENT);
init_options->impl->rmw_init_options.domain_id = domain_id;
return RCL_RET_OK;
}

rmw_init_options_t *
rcl_init_options_get_rmw_init_options(rcl_init_options_t * init_options)
{
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28 changes: 27 additions & 1 deletion rcl/test/rcl/test_init.cpp
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Expand Up @@ -453,8 +453,34 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options);
EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator));

size_t domain_id;
ret = rcl_init_options_get_domain_id(NULL, &domain_id);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(&init_options, NULL);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(NULL, NULL);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_set_domain_id(NULL, domain_id);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_init_options_get_domain_id(&init_options, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
ret = rcl_init_options_set_domain_id(&init_options, static_cast<size_t>(0u));
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_init_options_get_domain_id(&init_options, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0U, domain_id);

rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
EXPECT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
ASSERT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
ret = rcl_init_options_get_domain_id(&init_options_dst, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0U, domain_id);
EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
}
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