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expose domain_id to NodeOptions. #1155

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expose domain_id to NodeOptions. #1155

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17 changes: 17 additions & 0 deletions rclcpp/include/rclcpp/node_options.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -156,6 +156,21 @@ class NodeOptions
NodeOptions &
use_global_arguments(bool use_global_arguments);

/// Return the domain_id.
RCLCPP_PUBLIC
size_t
domain_id() const;

/// Set the domain id, return this for parameter idiom.
/**
* If set, this domain_id will be used in node.
*
* This can be used to override ROS_DOMAIN_ID environment variable.
*/
RCLCPP_PUBLIC
NodeOptions &
domain_id(size_t domain_id);

/// Return the enable_rosout flag.
RCLCPP_PUBLIC
bool
Expand Down Expand Up @@ -349,6 +364,8 @@ class NodeOptions

bool use_global_arguments_ {true};

size_t domain_id_ {get_domain_id_from_env()};

bool enable_rosout_ {true};

bool use_intra_process_comms_ {false};
Expand Down
17 changes: 16 additions & 1 deletion rclcpp/src/rclcpp/node_options.cpp
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Expand Up @@ -71,6 +71,7 @@ NodeOptions::operator=(const NodeOptions & other)
this->arguments_ = other.arguments_;
this->parameter_overrides_ = other.parameter_overrides_;
this->use_global_arguments_ = other.use_global_arguments_;
this->domain_id_ = other.domain_id_;
this->enable_rosout_ = other.enable_rosout_;
this->use_intra_process_comms_ = other.use_intra_process_comms_;
this->enable_topic_statistics_ = other.enable_topic_statistics_;
Expand All @@ -92,7 +93,7 @@ NodeOptions::get_rcl_node_options() const
*node_options_ = rcl_node_get_default_options();
node_options_->allocator = this->allocator_;
node_options_->use_global_arguments = this->use_global_arguments_;
node_options_->domain_id = this->get_domain_id_from_env();
node_options_->domain_id = this->domain_id_;
node_options_->enable_rosout = this->enable_rosout_;

int c_argc = 0;
Expand Down Expand Up @@ -187,6 +188,20 @@ NodeOptions::use_global_arguments(bool use_global_arguments)
return *this;
}

size_t
NodeOptions::domain_id() const
{
return this->domain_id_;
}

NodeOptions &
NodeOptions::domain_id(size_t domain_id)
{
this->node_options_.reset(); // reset node options to make it be recreated on next access.
this->domain_id_ = domain_id;
return *this;
}

bool
NodeOptions::enable_rosout() const
{
Expand Down