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Add setter and getter for domain_id in rcl_init_options_t #678

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Merged
ivanpauno merged 4 commits into from
Jun 29, 2020
Merged

Add setter and getter for domain_id in rcl_init_options_t #678

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4ca5263
add rcl_init_options_get/set_domain_id.
Jun 15, 2020
52eed8d
fix description in docblocks.
Jun 21, 2020
17e0336
add minimal test for rcl_init_options_get/set_domain_id().
Jun 23, 2020
76adfa9
call rcl_reset_error() after expected failure cases.
Jun 28, 2020
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44 changes: 44 additions & 0 deletions rcl/include/rcl/init_options.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,50 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_init_options_fini(rcl_init_options_t * init_options);

/// Return domain_id which is stored in rmw_init_options.
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/**
* Get the domain id from specifid rcl_init_options_t object.
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*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] init_options rcl_init_options_t object to get domain id.
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* \param[inout] domain_id domain id to be copied from rcl_init_options_t object.
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* \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 domain_id to rmw_init_options.
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/**
* Store the domain id to specified rcl_init_options_t object.
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*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] init_options rcl_init_options_t object to be set domain id.
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* \param[in] domain_id domain id to be set into rcl_init_options_t object.
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* \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.
/**
* This function can fail and return `NULL` if:
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19 changes: 19 additions & 0 deletions rcl/src/rcl/init_options.c
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Expand Up @@ -131,6 +131,25 @@ rcl_init_options_fini(rcl_init_options_t * init_options)
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 *
rcl_init_options_get_rmw_init_options(rcl_init_options_t * init_options)
{
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