Add support for dynamic allocations

See: * ros2/rmw#349 * ros2/rcl#1038 Signed-off-by: Arjo Chakravarty <[email protected]>
ros2 · Mar 21, 2023 · fdf6e83 · fdf6e83
1 parent 4ab38d3
commit fdf6e83
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Showing 3 changed files with 20 additions and 11 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
@@ -283,14 +283,14 @@ class ParticipantListener
           for (const auto &a : peer_aliases) {
             result.insert(a);
           }
-          RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_shared_cpp", "Got static peer: %s", hostname);
+          RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_shared_cpp", "Got static peer: %s", hostname.c_str());
         }
         start = end + delimiter.length();
       }
       if (start < static_peers_string.length() - 1) {
         auto peer = static_peers_string.substr(start);
         result.insert(peer);
-        RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_shared_cpp", "Got last static peer: %s", peer);
+        RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_shared_cpp", "Got last static peer: %s", peer.c_str());
       }
     }
 
@@ -341,13 +341,13 @@ class ParticipantListener
     // Check if the host is a static peer on our list
     auto aliases = utils::get_peer_aliases(hostname);
     for (size_t ii = 0; ii < discovery_params_.static_peers_count; ++ii) {
-      if (hostname == discovery_params_.static_peers[ii]) {
+      if (hostname == discovery_params_.static_peers[ii].peer_address) {
         RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_shared_cpp",
                                 "Matching host in our static peer list");
         return true;
       }
 
-      if (aliases.count(discovery_params_.static_peers[ii]) > 0)
+      if (aliases.count(discovery_params_.static_peers[ii].peer_address) > 0)
       {
         RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_shared_cpp",
                               "Matching host in our static peer list");

diff --git a/rmw_fastrtps_shared_cpp/src/participant.cpp b/rmw_fastrtps_shared_cpp/src/participant.cpp
@@ -258,13 +258,13 @@ CustomParticipantInfo *rmw_fastrtps_shared_cpp::create_participant(
     user_data << "staticpeers=";
     for (size_t ii = 0; ii < discovery_params->static_peers_count; ++ii) {
       eprosima::fastrtps::rtps::Locator_t peer;
-      if (ip_version(discovery_params->static_peers[ii]) == 4) {
+      if (ip_version(discovery_params->static_peers[ii].peer_address) == 4) {
         eprosima::fastrtps::rtps::IPLocator::setIPv4(
-            peer, discovery_params->static_peers[ii]);
+            peer, discovery_params->static_peers[ii].peer_address);
       }
-      else if (ip_version(discovery_params->static_peers[ii]) == 6) {
+      else if (ip_version(discovery_params->static_peers[ii].peer_address) == 6) {
         eprosima::fastrtps::rtps::IPLocator::setIPv6(
-            peer, discovery_params->static_peers[ii]);
+            peer, discovery_params->static_peers[ii].peer_address);
       }
       // Not specifying the port of the peer means FastDDS will try all
       // possible participant ports according to the port calculation equation
@@ -273,10 +273,11 @@ CustomParticipantInfo *rmw_fastrtps_shared_cpp::create_participant(
       domainParticipantQos.wire_protocol().builtin.initialPeersList.push_back(
           peer);
 
-      user_data << discovery_params->static_peers[ii] << ',';
+      user_data << discovery_params->static_peers[ii].peer_address << ',';
 
       // Add any aliases (IPs for hostnames, hostnames for IPs)
-      auto aliases = utils::get_peer_aliases(discovery_params->static_peers[ii]);
+      auto aliases = utils::get_peer_aliases(
+        discovery_params->static_peers[ii].peer_address);
       for (const auto &alias : aliases) {
         user_data << alias << ',';
       }

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_init.cpp b/rmw_fastrtps_shared_cpp/src/rmw_init.cpp
@@ -69,7 +69,6 @@ rmw_init_options_copy(
   }
   const rcutils_allocator_t * allocator = &src->allocator;
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
-
   rmw_init_options_t tmp = *src;
   tmp.enclave = rcutils_strdup(tmp.enclave, *allocator);
   if (NULL != src->enclave && NULL == tmp.enclave) {
@@ -82,6 +81,11 @@ rmw_init_options_copy(
     allocator->deallocate(tmp.enclave, allocator->state);
     return ret;
   }
+  tmp.discovery_params = rmw_get_zero_initialized_discovery_params();
+  ret = rmw_discovery_params_copy(
+    &src->discovery_params,
+    allocator,
+    &tmp.discovery_params);
   *dst = tmp;
   return RMW_RET_OK;
 }
@@ -105,6 +109,10 @@ rmw_init_options_fini(const char * identifier, rmw_init_options_t * init_options
 
   allocator->deallocate(init_options->enclave, allocator->state);
   rmw_ret_t ret = rmw_security_options_fini(&init_options->security_options, allocator);
+  if (ret != RMW_RET_OK)
+    return ret;
+
+  ret = rmw_discovery_params_fini(&init_options->discovery_params, allocator);
   *init_options = rmw_get_zero_initialized_init_options();
   return ret;
 }