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Add setter and getter for domain_id in rcl_init_options_t (#678) (#946)

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Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 45f133152e59c800e85b1dc97bf14e3b74aecd00)

Co-authored-by: tomoya <Tomoya.Fujita@sony.com>
This commit is contained in:
mergify[bot] 2021-11-02 14:15:05 -07:00 • committed by GitHub
parent f91a556bcb
commit e88a953ec9
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 90 additions and 1 deletions
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44
rcl/include/rcl/init_options.h
View file

@ -127,6 +127,50 @@ RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_options_fini(rcl_init_options_t * init_options); rcl_init_options_fini(rcl_init_options_t * init_options);
/// Return the domain_id stored in the init options.
/**
* Get the domain id from the specified rcl_init_options_t object.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] init_options object from which the domain id should be retrieved.
* \param[out] domain_id domain id to be set in init_options object.
* \return `RCL_RET_OK` if successful, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_options_get_domain_id(rcl_init_options_t * init_options, size_t * domain_id);
/// Set a domain id in the init options provided.
/**
* Store the domain id in the specified init_options object.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] init_options objects in which to set the specified domain id.
* \param[in] domain_id domain id to be set in init_options object.
* \return `RCL_RET_OK` if successful, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_options_set_domain_id(rcl_init_options_t * init_options, size_t domain_id);
/// Return the rmw init options which are stored internally. /// Return the rmw init options which are stored internally.
/** /**
* This function can fail and return `NULL` if: * This function can fail and return `NULL` if:

19
rcl/src/rcl/init_options.c
View file

@ -142,6 +142,25 @@ rcl_init_options_fini(rcl_init_options_t * init_options)
return RCL_RET_OK; return RCL_RET_OK;
} }
rcl_ret_t
rcl_init_options_get_domain_id(rcl_init_options_t * init_options, size_t * domain_id)
{
RCL_CHECK_ARGUMENT_FOR_NULL(init_options, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(init_options->impl, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(domain_id, RCL_RET_INVALID_ARGUMENT);
*domain_id = init_options->impl->rmw_init_options.domain_id;
return RCL_RET_OK;
}
rcl_ret_t
rcl_init_options_set_domain_id(rcl_init_options_t * init_options, size_t domain_id)
{
RCL_CHECK_ARGUMENT_FOR_NULL(init_options, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(init_options->impl, RCL_RET_INVALID_ARGUMENT);
init_options->impl->rmw_init_options.domain_id = domain_id;
return RCL_RET_OK;
}
rmw_init_options_t * rmw_init_options_t *
rcl_init_options_get_rmw_init_options(rcl_init_options_t * init_options) rcl_init_options_get_rmw_init_options(rcl_init_options_t * init_options)
{ {

28
rcl/test/rcl/test_init.cpp
View file

@ -453,8 +453,34 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options); const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options);
EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator)); EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator));
size_t domain_id;
ret = rcl_init_options_get_domain_id(NULL, &domain_id);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(&init_options, NULL);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(NULL, NULL);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_set_domain_id(NULL, domain_id);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(&init_options, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
ret = rcl_init_options_set_domain_id(&init_options, static_cast<size_t>(0u));
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_init_options_get_domain_id(&init_options, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0U, domain_id);
rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options(); rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
EXPECT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst)); ASSERT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
ret = rcl_init_options_get_domain_id(&init_options_dst, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0U, domain_id);
EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst)); EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst)); EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
} }