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Set context actual domain id #208

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merged 3 commits into from
Jul 22, 2020
Merged

Set context actual domain id #208

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536130b
Set context actual domain id
ivanpauno Jul 17, 2020
a8b45bf
Address peer review comments
ivanpauno Jul 17, 2020
31ff3aa
Delete zero context assert
ivanpauno Jul 20, 2020
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17 changes: 8 additions & 9 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -287,7 +287,7 @@ struct rmw_context_impl_t
// Initializes the participant, if it wasn't done already.
// node_count is increased
rmw_ret_t
init(rmw_init_options_t * options);
init(rmw_init_options_t * options, size_t domain_id);

// Destroys the participant, when node_count reaches 0.
rmw_ret_t
Expand Down Expand Up @@ -926,7 +926,7 @@ rmw_ret_t configure_qos_for_security(
}

rmw_ret_t
rmw_context_impl_t::init(rmw_init_options_t * options)
rmw_context_impl_t::init(rmw_init_options_t * options, size_t domain_id)
{
std::lock_guard<std::mutex> guard(initialization_mutex);
if (0u != this->node_count) {
Expand All @@ -939,9 +939,7 @@ 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>(
// 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);
this->domain_id = static_cast<dds_domainid_t>(domain_id);

if (!check_create_domain(this->domain_id, options->localhost_only)) {
return RMW_RET_ERROR;
Expand Down Expand Up @@ -1147,13 +1145,14 @@ extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t
return RMW_RET_INVALID_ARGUMENT;
}

const rmw_context_t zero_context = rmw_get_zero_initialized_context();
assert(0 == std::memcmp(context, &zero_context, sizeof(rmw_context_t)));
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auto restore_context = rcpputils::make_scope_exit(
[context, &zero_context]() {*context = zero_context;});
[context]() {*context = rmw_get_zero_initialized_context();});

context->instance_id = options->instance_id;
context->implementation_identifier = eclipse_cyclonedds_identifier;
// No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
context->actual_domain_id =
RMW_DEFAULT_DOMAIN_ID != options->domain_id ? options->domain_id : 0u;
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context->impl = new (std::nothrow) rmw_context_impl_t();
if (nullptr == context->impl) {
Expand Down Expand Up @@ -1255,7 +1254,7 @@ extern "C" rmw_node_t * rmw_create_node(
return nullptr;
}

ret = context->impl->init(&context->options);
ret = context->impl->init(&context->options, context->actual_domain_id);
if (RMW_RET_OK != ret) {
return nullptr;
}
Expand Down