Support for rclcpp::NodeOptions (#379)

* Move node_options into it's own header.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Check before fini to avoid duplicate.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

rcl/CMakeLists.txt

@@ -44,6 +44,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/logging_rosout.c
   src/rcl/logging.c
   src/rcl/node.c
+  src/rcl/node_options.c
   src/rcl/publisher.c
   src/rcl/remap.c
   src/rcl/rmw_implementation_identifier_check.c

rcl/include/rcl/node.h

@@ -26,12 +26,10 @@ extern "C"
 #include "rcl/arguments.h"
 #include "rcl/context.h"
 #include "rcl/macros.h"
+#include "rcl/node_options.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-/// Constant which indicates that the default domain id should be used.
-#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
-
 struct rcl_guard_condition_t;
 struct rcl_node_impl_t;
 
@@ -45,52 +43,6 @@ typedef struct rcl_node_t
   struct rcl_node_impl_t * impl;
 } rcl_node_t;
 
-/// Structure which encapsulates the options for creating a rcl_node_t.
-typedef struct rcl_node_options_t
-{
-  // bool anonymous_name;
-
-  // rmw_qos_profile_t parameter_qos;
-
-  /// If true, no parameter infrastructure will be setup.
-  // bool no_parameters;
-
-  /// If set, then this value overrides the ROS_DOMAIN_ID environment variable.
-  /**
-   * It defaults to RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID, which will cause the
-   * node to use the ROS domain ID set in the ROS_DOMAIN_ID environment
-   * variable, or on some systems 0 if the environment variable is not set.
-   *
-   * \todo TODO(wjwwood):
-   *   Should we put a limit on the ROS_DOMAIN_ID value, that way we can have
-   *   a safe value for the default RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID?
-   *   (currently max size_t)
-   */
-  size_t domain_id;
-
-  /// Custom allocator used for internal allocations.
-  rcl_allocator_t allocator;
-
-  /// If false then only use arguments in this struct, otherwise use global arguments also.
-  bool use_global_arguments;
-
-  /// Command line arguments that apply only to this node.
-  rcl_arguments_t arguments;
-} rcl_node_options_t;
-
-/// Return the default node options in a rcl_node_options_t.
-/**
- * The default values are:
- *
- * - domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID
- * - allocator = rcl_get_default_allocator()
- * - use_global_arguments = true
- * - arguments = rcl_get_zero_initialized_arguments()
- */
-RCL_PUBLIC
-rcl_node_options_t
-rcl_node_get_default_options(void);
-
 /// Return a rcl_node_t struct with members initialized to `NULL`.
 RCL_PUBLIC
 RCL_WARN_UNUSED
@@ -221,31 +173,6 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_node_fini(rcl_node_t * node);
 
-/// Copy one options structure into another.
-/**
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | Yes
- * Thread-Safe        | No
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param[in] options The structure to be copied.
- *   Its allocator is used to copy memory into the new structure.
- * \param[out] options_out An options structure containing default values.
- * \return `RCL_RET_OK` if the structure was copied successfully, or
- * \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
- * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
- * \return `RCL_RET_ERROR` if an unspecified error occurs.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_node_options_copy(
-  const rcl_node_options_t * options,
-  rcl_node_options_t * options_out);
-
 /// Return `true` if the node is valid, else `false`.
 /**
  * Also return `false` if the node pointer is `NULL` or the allocator is invalid.

rcl/include/rcl/node_options.h

@@ -0,0 +1,127 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCL__NODE_OPTIONS_H_
+#define RCL__NODE_OPTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl/allocator.h"
+#include "rcl/arguments.h"
+
+/// Constant which indicates that the default domain id should be used.
+#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
+
+/// Structure which encapsulates the options for creating a rcl_node_t.
+typedef struct rcl_node_options_t
+{
+  // bool anonymous_name;
+
+  // rmw_qos_profile_t parameter_qos;
+
+  /// If true, no parameter infrastructure will be setup.
+  // bool no_parameters;
+
+  /// If set, then this value overrides the ROS_DOMAIN_ID environment variable.
+  /**
+   * It defaults to RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID, which will cause the
+   * node to use the ROS domain ID set in the ROS_DOMAIN_ID environment
+   * variable, or on some systems 0 if the environment variable is not set.
+   *
+   * \todo TODO(wjwwood):
+   *   Should we put a limit on the ROS_DOMAIN_ID value, that way we can have
+   *   a safe value for the default RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID?
+   *   (currently max size_t)
+   */
+  size_t domain_id;
+
+  /// Custom allocator used for internal allocations.
+  rcl_allocator_t allocator;
+
+  /// If false then only use arguments in this struct, otherwise use global arguments also.
+  bool use_global_arguments;
+
+  /// Command line arguments that apply only to this node.
+  rcl_arguments_t arguments;
+} rcl_node_options_t;
+
+/// Return the default node options in a rcl_node_options_t.
+/**
+ * The default values are:
+ *
+ * - domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID
+ * - allocator = rcl_get_default_allocator()
+ * - use_global_arguments = true
+ * - arguments = rcl_get_zero_initialized_arguments()
+ */
+RCL_PUBLIC
+rcl_node_options_t
+rcl_node_get_default_options(void);
+
+/// Copy one options structure into another.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] options The structure to be copied.
+ *   Its allocator is used to copy memory into the new structure.
+ * \param[out] options_out An options structure containing default values.
+ * \return `RCL_RET_OK` if the structure was copied successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_node_options_copy(
+  const rcl_node_options_t * options,
+  rcl_node_options_t * options_out);
+
+/// Finalize the given node_options.
+/**
+ * The given node_options must be non-`NULL` and valid, i.e. had
+ * `rcl_node_get_default_options()` called on it but not this function yet.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | Yes
+ * Lock-Free          | Yes
+ *
+ * \param[inout] node_options object to be finalized
+ * \return `RCL_RET_OK` if setup is successful, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_node_options_fini(rcl_node_options_t * options);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__NODE_OPTIONS_H_

rcl/src/rcl/node.c

@@ -559,41 +559,6 @@ rcl_node_is_valid(const rcl_node_t * node)
   return true;
 }
 
-rcl_node_options_t
-rcl_node_get_default_options()
-{
-  // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_node_options_t default_options = {
-    .domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID,
-    .use_global_arguments = true,
-  };
-  // Must set the allocator after because it is not a compile time constant.
-  default_options.allocator = rcl_get_default_allocator();
-  default_options.arguments = rcl_get_zero_initialized_arguments();
-  return default_options;
-}
-
-rcl_ret_t
-rcl_node_options_copy(
-  const rcl_node_options_t * options,
-  rcl_node_options_t * options_out)
-{
-  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
-  RCL_CHECK_ARGUMENT_FOR_NULL(options_out, RCL_RET_INVALID_ARGUMENT);
-  if (options_out == options) {
-    RCL_SET_ERROR_MSG("Attempted to copy options into itself");
-    return RCL_RET_INVALID_ARGUMENT;
-  }
-  options_out->domain_id = options->domain_id;
-  options_out->allocator = options->allocator;
-  options_out->use_global_arguments = options->use_global_arguments;
-  if (NULL != options->arguments.impl) {
-    rcl_ret_t ret = rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
-    return ret;
-  }
-  return RCL_RET_OK;
-}
-
 const char *
 rcl_node_get_name(const rcl_node_t * node)
 {

rcl/src/rcl/node_options.c

@@ -0,0 +1,82 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl/node_options.h"
+
+#include "rcl/arguments.h"
+#include "rcl/error_handling.h"
+#include "rcl/logging_rosout.h"
+
+rcl_node_options_t
+rcl_node_get_default_options()
+{
+  // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
+  static rcl_node_options_t default_options = {
+    .domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID,
+    .use_global_arguments = true,
+  };
+  // Must set the allocator after because it is not a compile time constant.
+  default_options.allocator = rcl_get_default_allocator();
+  default_options.arguments = rcl_get_zero_initialized_arguments();
+  return default_options;
+}
+
+rcl_ret_t
+rcl_node_options_copy(
+  const rcl_node_options_t * options,
+  rcl_node_options_t * options_out)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(options_out, RCL_RET_INVALID_ARGUMENT);
+  if (options_out == options) {
+    RCL_SET_ERROR_MSG("Attempted to copy options into itself");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  options_out->domain_id = options->domain_id;
+  options_out->allocator = options->allocator;
+  options_out->use_global_arguments = options->use_global_arguments;
+  if (NULL != options->arguments.impl) {
+    rcl_ret_t ret = rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
+    return ret;
+  }
+  return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_node_options_fini(
+  rcl_node_options_t * options)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  rcl_allocator_t allocator = options->allocator;
+  RCL_CHECK_ALLOCATOR(&allocator, return RCL_RET_INVALID_ARGUMENT);
+
+  if (options->arguments.impl) {
+    rcl_ret_t ret = rcl_arguments_fini(&options->arguments);
+    if (RCL_RET_OK != ret) {
+      RCL_SET_ERROR_MSG("Failed to fini rcl arguments");
+      return ret;
+    }
+  }
+
+  return RCL_RET_OK;
+}
+
+#ifdef __cplusplus
+}
+#endif