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Handle RMW_DEFAULT_DOMAIN_ID. (#194) (#199)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Michel Hidalgo 2020-06-23 12:15:22 -03:00 • committed by GitHub
parent 64b0f6750c
commit 6598191749
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1 changed files with 5 additions and 3 deletions
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8
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -891,7 +891,10 @@ 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>(options->domain_id);
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);
if (!check_create_domain(this->domain_id, options->localhost_only)) {
return RMW_RET_ERROR;
}
@ -1079,8 +1082,7 @@ extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
/* domain_id = UINT32_MAX = Cyclone DDS' "default domain id".*/
if (options->domain_id >= UINT32_MAX) {
if (options->domain_id >= UINT32_MAX && options->domain_id != RMW_DEFAULT_DOMAIN_ID) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp", "rmw_create_node: domain id out of range");
return RMW_RET_INVALID_ARGUMENT;