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Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

rmw/CMakeLists.txt

@@ -34,8 +34,8 @@ set(rmw_sources
   "src/names_and_types.c"
   "src/publisher_options.c"
   "src/sanity_checks.c"
+  "src/security_options.c"
   "src/subscription_options.c"
-  "src/node_security_options.c"
   "src/validate_full_topic_name.c"
   "src/validate_namespace.c"
   "src/validate_node_name.c"

rmw/include/rmw/init.h

@@ -22,29 +22,11 @@ extern "C"
 
 #include <stdint.h>
 
-#include "rmw/init_options.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
+#include "rmw/types.h"
 #include "rmw/visibility_control.h"
 
-/// Implementation defined context structure returned by rmw_init().
-/**
- * This should be defined by the rmw implementation.
- */
-typedef struct rmw_context_impl_t rmw_context_impl_t;
-
-/// Initialization context structure which is used to store init specific information.
-typedef struct RMW_PUBLIC_TYPE rmw_context_t
-{
-  /// Locally (process local) unique ID that represents this init/shutdown cycle.
-  uint64_t instance_id;
-  /// Implementation identifier, used to ensure two different implementations are not being mixed.
-  const char * implementation_identifier;
-  /// Implementation defined context information.
-  /** May be NULL if there is no implementation defined context information. */
-  rmw_context_impl_t * impl;
-} rmw_context_t;
-
 /// Return a zero initialized context structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED

rmw/include/rmw/init_options.h

@@ -25,34 +25,9 @@ extern "C"
 #include "rcutils/allocator.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
+#include "rmw/types.h"
 #include "rmw/visibility_control.h"
 
-/// Implementation defined options structure used during rmw_init().
-/**
- * This should be defined by the rmw implementation.
- */
-typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
-
-/// Options structure used during rmw_init().
-typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
-{
-  /// Locally (process local) unique ID that represents this init/shutdown cycle.
-  /**
-   * This should be set by the caller of `rmw_init()` to a number that is
-   * unique within this process.
-   * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
-   */
-  uint64_t instance_id;
-  /// Implementation identifier, used to ensure two different implementations are not being mixed.
-  const char * implementation_identifier;
-  // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
-  /// Allocator used during internal allocation of init options, if needed.
-  rcutils_allocator_t allocator;
-  /// Implementation defined init options.
-  /** May be NULL if there are no implementation defined options. */
-  rmw_init_options_impl_t * impl;
-} rmw_init_options_t;
-
 /// Return a zero initialized init options structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED

rmw/include/rmw/rmw.h

@@ -172,7 +172,7 @@ rmw_create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * security_options,
+  const rmw_security_options_t * security_options,
   bool localhost_only);
 
 /// Finalize a given node handle, reclaim the resources, and deallocate the node handle.

rmw/include/rmw/node_security_options.h → rmw/include/rmw/security_options.h

@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW__NODE_SECURITY_OPTIONS_H_
-#define RMW__NODE_SECURITY_OPTIONS_H_
+#ifndef RMW__SECURITY_OPTIONS_H_
+#define RMW__SECURITY_OPTIONS_H_
 
 #ifdef __cplusplus
 extern "C"
@@ -23,15 +23,15 @@ extern "C"
 #include "rmw/types.h"
 
 RMW_PUBLIC
-rmw_node_security_options_t
-rmw_get_zero_initialized_node_security_options();
+rmw_security_options_t
+rmw_get_zero_initialized_security_options();
 
 RMW_PUBLIC
-rmw_node_security_options_t
-rmw_get_default_node_security_options();
+rmw_security_options_t
+rmw_get_default_security_options();
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // RMW__NODE_SECURITY_OPTIONS_H_
+#endif  // RMW__SECURITY_OPTIONS_H_

rmw/include/rmw/types.h

@@ -27,7 +27,6 @@ extern "C"
 // map rcutils specific log levels to rmw speicfic type
 #include <rcutils/logging.h>
 
-#include "rmw/init.h"
 #include "rmw/loaned_message_sequence.h"
 #include "rmw/ret_types.h"
 #include "rmw/serialized_message.h"
@@ -37,6 +36,24 @@ extern "C"
 // implementation. It may need to be increased in the future.
 #define RMW_GID_STORAGE_SIZE 24
 
+/// Implementation defined context structure returned by rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_context_impl_t rmw_context_impl_t;
+
+/// Initialization context structure which is used to store init specific information.
+typedef struct RMW_PUBLIC_TYPE rmw_context_t
+{
+  /// Locally (process local) unique ID that represents this init/shutdown cycle.
+  uint64_t instance_id;
+  /// Implementation identifier, used to ensure two different implementations are not being mixed.
+  const char * implementation_identifier;
+  /// Implementation defined context information.
+  /** May be NULL if there is no implementation defined context information. */
+  rmw_context_impl_t * impl;
+} rmw_context_t;
+
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
   const char * implementation_identifier;
@@ -252,11 +269,45 @@ enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
   RMW_SECURITY_ENFORCEMENT_ENFORCE,
 };
 
-typedef struct RMW_PUBLIC_TYPE rmw_node_security_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
 {
   enum rmw_security_enforcement_policy_t enforce_security;
   const char * security_root_path;
-} rmw_node_security_options_t;
+} rmw_security_options_t;
+
+/// Constant which indicates that the default domain id should be used.
+#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
+
+/// Implementation defined options structure used during rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
+
+/// Options structure used during rmw_init().
+typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
+{
+  /// Locally (process local) unique ID that represents this init/shutdown cycle.
+  /**
+   * This should be set by the caller of `rmw_init()` to a number that is
+   * unique within this process.
+   * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
+   */
+  uint64_t instance_id;
+  /// Implementation identifier, used to ensure two different implementations are not being mixed.
+  const char * implementation_identifier;
+  /// ROS domain id
+  size_t domain_id;
+  /// Security options
+  rmw_security_options_t security_options;
+
+  // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
+  /// Allocator used during internal allocation of init options, if needed.
+  rcutils_allocator_t allocator;
+  /// Implementation defined init options.
+  /** May be NULL if there are no implementation defined options. */
+  rmw_init_options_impl_t * impl;
+} rmw_init_options_t;
 
 enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
 {

rmw/src/node_security_options.c → rmw/src/security_options.c

@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rmw/node_security_options.h"
+#include "rmw/security_options.h"
 
-rmw_node_security_options_t
-rmw_get_zero_initialized_node_security_options()
+rmw_security_options_t
+rmw_get_zero_initialized_security_options()
 {
-  static rmw_node_security_options_t null_security_options = {0, NULL};
+  static rmw_security_options_t null_security_options = {0, NULL};
   return null_security_options;
 }
 
-rmw_node_security_options_t
-rmw_get_default_node_security_options()
+rmw_security_options_t
+rmw_get_default_security_options()
 {
-  static rmw_node_security_options_t default_options;
+  static rmw_security_options_t default_options;
   default_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
   default_options.security_root_path = NULL;
   return default_options;