From e04a2db825d63b9ca3d027dea6c99663592484d2 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Sun, 16 Aug 2015 13:09:45 -0700
Subject: [PATCH] use _dupenv_s, strerror_s and strerror_r

---
 rclcpp/include/rclcpp/node_impl.hpp | 14 +++++++++++++-
 rclcpp/include/rclcpp/utilities.hpp | 11 +++++++++--
 2 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index fb13bef..7752e38 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -49,7 +49,14 @@ Node::Node(const std::string & node_name, context::Context::SharedPtr context)
   number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
 {
   size_t domain_id = 0;
-  char * ros_domain_id = getenv("ROS_DOMAIN_ID");
+  char * ros_domain_id = nullptr;
+  const char * env_var = "ROS_DOMAIN_ID";
+#ifndef _WIN32
+  getenv(env_var);
+#else
+  size_t ros_domain_id_size;
+  _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
+#endif
   if (ros_domain_id) {
     unsigned long number = strtoul(ros_domain_id, NULL, 0);
     if (number == (std::numeric_limits<unsigned long>::max)()) {
@@ -57,6 +64,11 @@ Node::Node(const std::string & node_name, context::Context::SharedPtr context)
     }
     domain_id = static_cast<size_t>(number);
   }
+#ifdef _WIN32
+  if (ros_domain_id) {
+    free(ros_domain_id);
+  }
+#endif
 
   auto node = rmw_create_node(name_.c_str(), domain_id);
   if (!node) {
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index e82cb44..c0e067c 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -24,6 +24,7 @@
 #include <csignal>
 #include <cstring>
 #include <mutex>
+#include <string.h>
 #include <thread>
 
 #include <rmw/macros.h>
@@ -121,11 +122,17 @@ init(int argc, char * argv[])
   if (::old_signal_handler == SIG_ERR)
 #endif
   {
+    const size_t error_length = 1024;
+    char error_string[error_length];
+#ifndef _WIN32
+    strerror_r(errno, error_string, error_length);
+#else
+    strerror_s(error_string, error_length, errno);
+#endif
     // *INDENT-OFF*
     throw std::runtime_error(
       std::string("Failed to set SIGINT signal handler: (" + std::to_string(errno) + ")") +
-      // TODO(wjwwood): use strerror_r on POSIX and strerror_s on Windows.
-      std::strerror(errno));
+      error_string);
     // *INDENT-ON*
   }
 }