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Set context actual domain id #443

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Jul 22, 2020
Merged

Set context actual domain id #443

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063137f
Set context actual domain id
ivanpauno Jul 17, 2020
c6ac3bd
Address peer review comment
ivanpauno Jul 17, 2020
8f3b3a5
Delete zero context assert
ivanpauno Jul 20, 2020
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7 changes: 4 additions & 3 deletions rmw_connext_cpp/src/rmw_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,13 +132,14 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
return RMW_RET_INVALID_ARGUMENT;
}

const rmw_context_t zero_context = rmw_get_zero_initialized_context();
assert(0 == std::memcmp(context, &zero_context, sizeof(rmw_context_t)));
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auto restore_context = rcpputils::make_scope_exit(
[context, &zero_context]() {*context = zero_context;});
[context]() {*context = rmw_get_zero_initialized_context();});

context->instance_id = options->instance_id;
context->implementation_identifier = rti_connext_identifier;
// No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
context->actual_domain_id =
RMW_DEFAULT_DOMAIN_ID != options->domain_id ? options->domain_id : 0u;
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context->impl = new (std::nothrow) rmw_context_impl_t();
if (nullptr == context->impl) {
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5 changes: 1 addition & 4 deletions rmw_connext_shared_cpp/src/node.cpp
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Expand Up @@ -305,12 +305,9 @@ create_node(
}
}

// No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
{
size_t domain_id = context->options.domain_id;
participant = dpf_->create_participant(
static_cast<DDS::DomainId_t>(
domain_id != RMW_DEFAULT_DOMAIN_ID ? domain_id : 0u),
static_cast<DDS::DomainId_t>(context->actual_domain_id),
participant_qos,
NULL,
DDS::STATUS_MASK_NONE);
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