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Keep domain id if ROS_DOMAIN_ID is invalid. (#689) (#694)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-06-26 14:27:44 -03:00 • committed by GitHub
parent fed3515c7e
commit 29f999a1cd
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 30 additions and 8 deletions
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14
rcl/src/rcl/domain_id.c
View file

@ -14,6 +14,7 @@
#include "rcl/domain_id.h"
#include <errno.h>
#include <limits.h>
#include "rcutils/get_env.h"
@ -40,10 +41,15 @@ rcl_get_default_domain_id(size_t * domain_id)
get_env_error_str);
return RCL_RET_ERROR;
}
if (ros_domain_id) {
unsigned long number = strtoul(ros_domain_id, NULL, 0); // NOLINT(runtime/int)
if (number == ULONG_MAX) {
RCL_SET_ERROR_MSG("failed to interpret ROS_DOMAIN_ID as integral number");
if (ros_domain_id && strcmp(ros_domain_id, "") != 0) {
char * end = NULL;
unsigned long number = strtoul(ros_domain_id, &end, 0); // NOLINT(runtime/int)
if (number == 0UL && *end != '\0') {
RCL_SET_ERROR_MSG("ROS_DOMAIN_ID is not an integral number");
return RCL_RET_ERROR;
}
if ((number == ULONG_MAX && errno == ERANGE) || number > SIZE_MAX) {
RCL_SET_ERROR_MSG("ROS_DOMAIN_ID is out of range");
return RCL_RET_ERROR;
}
*domain_id = (size_t)number;

24
rcl/test/rcl/test_domain_id.cpp
View file

@ -22,15 +22,31 @@
TEST(TestGetDomainId, test_nominal) {
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "42"));
size_t domain_id = 0u;
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(42u, domain_id);
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "998446744073709551615"));
domain_id = 0u;
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", ""));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "0000"));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(0u, domain_id);
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "0 not really"));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
rcl_reset_error();
EXPECT_EQ(0u, domain_id);
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "998446744073709551615"));
domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
rcl_reset_error();
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_default_domain_id(nullptr));
}