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Handle RMW_DEFAULT_DOMAIN_ID. #194

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Jun 22, 2020
Merged

Handle RMW_DEFAULT_DOMAIN_ID. #194

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8 changes: 5 additions & 3 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -925,7 +925,10 @@ rmw_context_impl_t::init(rmw_init_options_t * options)
failed: otherwise there is a race with rmw_destroy_node deleting the last participant
and tearing down the domain for versions of Cyclone that implement the original
version of dds_create_domain that doesn't return a handle. */
this->domain_id = static_cast<dds_domainid_t>(options->domain_id);
this->domain_id = static_cast<dds_domainid_t>(
// No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
options->domain_id != RMW_DEFAULT_DOMAIN_ID ? options->domain_id : 0u);

if (!check_create_domain(this->domain_id, options->localhost_only)) {
return RMW_RET_ERROR;
}
Expand Down Expand Up @@ -1114,8 +1117,7 @@ extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

/* domain_id = UINT32_MAX = Cyclone DDS' "default domain id".*/
if (options->domain_id >= UINT32_MAX) {
if (options->domain_id >= UINT32_MAX && options->domain_id != RMW_DEFAULT_DOMAIN_ID) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp", "rmw_create_node: domain id out of range");
return RMW_RET_INVALID_ARGUMENT;
Expand Down