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Remove usage of domain id in node options #1205

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merged 2 commits into from
Jul 1, 2020
Merged

Remove usage of domain id in node options #1205

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2b98b47
Remove usage of domain id in node options
ivanpauno Jun 29, 2020
49ce23a
Delete method definition
ivanpauno Jul 1, 2020
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5 changes: 0 additions & 5 deletions rclcpp/include/rclcpp/node_options.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,11 +327,6 @@ class NodeOptions
NodeOptions &
allocator(rcl_allocator_t allocator);

protected:
/// Retrieve the ROS_DOMAIN_ID environment variable and populate options.
size_t
get_domain_id_from_env() const;

private:
// This is mutable to allow for a const accessor which lazily creates the node options instance.
/// Underlying rcl_node_options structure.
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33 changes: 0 additions & 33 deletions rclcpp/src/rclcpp/node_options.cpp
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Expand Up @@ -92,7 +92,6 @@ 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_->enable_rosout = this->enable_rosout_;

int c_argc = 0;
Expand Down Expand Up @@ -322,36 +321,4 @@ NodeOptions::allocator(rcl_allocator_t allocator)
return *this;
}

// TODO(wjwwood): reuse rcutils_get_env() to avoid code duplication.
// See also: https://github.com/ros2/rcl/issues/119
size_t
NodeOptions::get_domain_id_from_env() const
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{
// Determine the domain id based on the options and the ROS_DOMAIN_ID env variable.
size_t domain_id = std::numeric_limits<size_t>::max();
char * ros_domain_id = nullptr;
const char * env_var = "ROS_DOMAIN_ID";
#ifndef _WIN32
ros_domain_id = getenv(env_var);
#else
size_t ros_domain_id_size;
_dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
#endif
if (ros_domain_id) {
uint32_t number = static_cast<uint32_t>(strtoul(ros_domain_id, NULL, 0));
if (number == (std::numeric_limits<uint32_t>::max)()) {
#ifdef _WIN32
// free the ros_domain_id before throwing, if getenv was used on Windows
free(ros_domain_id);
#endif
throw std::runtime_error("failed to interpret ROS_DOMAIN_ID as integral number");
}
domain_id = static_cast<size_t>(number);
#ifdef _WIN32
free(ros_domain_id);
#endif
}
return domain_id;
}

} // namespace rclcpp