Set context actual domain id (#410)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · Oct 15, 2020 · 5b17bcd · 5b17bcd
1 parent 46284d6
commit 5b17bcd
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Showing 5 changed files with 10 additions and 12 deletions.
diff --git a/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp b/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp
@@ -60,7 +60,7 @@ init_context_impl(rmw_context_t * context)
   participant_info(
     rmw_fastrtps_shared_cpp::create_participant(
       eprosima_fastrtps_identifier,
-      context->options.domain_id,
+      context->actual_domain_id,
       &context->options.security_options,
       (context->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED) ? 1 : 0,
       context->options.enclave,

diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -93,13 +93,13 @@ 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)));
   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 = eprosima_fastrtps_identifier;
+  context->actual_domain_id =
+    RMW_DEFAULT_DOMAIN_ID == options->domain_id ? 0uL : options->domain_id;
 
   context->impl = new (std::nothrow) rmw_context_impl_t();
   if (nullptr == context->impl) {

diff --git a/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp b/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp
@@ -60,7 +60,7 @@ init_context_impl(rmw_context_t * context)
   participant_info(
     rmw_fastrtps_shared_cpp::create_participant(
       eprosima_fastrtps_identifier,
-      context->options.domain_id,
+      context->actual_domain_id,
       &context->options.security_options,
       (context->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED) ? 1 : 0,
       context->options.enclave,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
@@ -93,13 +93,13 @@ 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)));
   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 = eprosima_fastrtps_identifier;
+  context->actual_domain_id =
+    RMW_DEFAULT_DOMAIN_ID == options->domain_id ? 0uL : options->domain_id;
 
   context->impl = new (std::nothrow) rmw_context_impl_t();
   if (nullptr == context->impl) {

diff --git a/rmw_fastrtps_shared_cpp/src/participant.cpp b/rmw_fastrtps_shared_cpp/src/participant.cpp
@@ -166,11 +166,9 @@ rmw_fastrtps_shared_cpp::create_participant(
 
   // No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
 #if FASTRTPS_VERSION_MAJOR < 2
-  participantAttrs.rtps.builtin.domainId =
-    static_cast<uint32_t>(domain_id != RMW_DEFAULT_DOMAIN_ID ? domain_id : 0u);
+  participantAttrs.rtps.builtin.domainId = static_cast<uint32_t>(domain_id);
 #else
-  participantAttrs.domainId =
-    static_cast<uint32_t>(domain_id != RMW_DEFAULT_DOMAIN_ID ? domain_id : 0u);
+  participantAttrs.domainId = static_cast<uint32_t>(domain_id);
 #endif
 
   size_t length = snprintf(nullptr, 0, "enclave=%s;", enclave) + 1;