refactor to support init options and context

rmw_opensplice_cpp/src/rmw_guard_condition.cpp

@@ -41,8 +41,15 @@
 extern "C"
 {
 rmw_guard_condition_t *
-rmw_create_guard_condition()
+rmw_create_guard_condition(rmw_context_t * context)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    opensplice_cpp_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   rmw_guard_condition_t * guard_condition = rmw_guard_condition_allocate();
   if (!guard_condition) {
     RMW_SET_ERROR_MSG("failed to allocate guard condition");

rmw_opensplice_cpp/src/rmw_init.cpp

@@ -30,20 +30,97 @@
 #include <dds_dcps.h>
 
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
 
+#include "identifier.hpp"
+
 // The extern "C" here enforces that overloading is not used.
 extern "C"
 {
 rmw_ret_t
-rmw_init()
+rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
+  if (NULL != init_options->implementation_identifier) {
+    RMW_SET_ERROR_MSG("expected zero-initialized init_options");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  init_options->instance_id = 0;
+  init_options->implementation_identifier = opensplice_cpp_identifier;
+  init_options->allocator = allocator;
+  init_options->impl = nullptr;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    src,
+    src->implementation_identifier,
+    opensplice_cpp_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (NULL != dst->implementation_identifier) {
+    RMW_SET_ERROR_MSG("expected zero-initialized dst");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  *dst = *src;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init_options_fini(rmw_init_options_t * init_options)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init_options,
+    init_options->implementation_identifier,
+    opensplice_cpp_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  *init_options = rmw_get_zero_initialized_init_options();
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    options,
+    options->implementation_identifier,
+    opensplice_cpp_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  context->instance_id = options->instance_id;
+  context->implementation_identifier = opensplice_cpp_identifier;
+  context->impl = nullptr;
+
   DDS::DomainParticipantFactory_var dp_factory = DDS::DomainParticipantFactory::get_instance();
   if (!dp_factory) {
     RMW_SET_ERROR_MSG("failed to get domain participant factory");
     return RMW_RET_ERROR;
   }
   return RMW_RET_OK;
 }
+
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    opensplice_cpp_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  // context impl is explicitly supposed to be nullptr for now, see rmw_init's code
+  // RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
 }  // extern "C"

rmw_opensplice_cpp/src/rmw_node.cpp

@@ -43,21 +43,20 @@ extern "C"
 {
 rmw_node_t *
 rmw_create_node(
+  rmw_context_t * context,
   const char * name, const char * namespace_, size_t domain_id,
   const rmw_node_security_options_t * security_options)
 {
-  if (!name) {
-    RMW_SET_ERROR_MSG("name is null");
-    return nullptr;
-  }
-  if (!namespace_) {
-    RMW_SET_ERROR_MSG("namespace_ is null");
-    return nullptr;
-  }
-  if (!security_options) {
-    RMW_SET_ERROR_MSG("security_options is null");
-    return nullptr;
-  }
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, nullptr);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    opensplice_cpp_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return nullptr);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(name, nullptr);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(namespace_, nullptr);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(security_options, nullptr);
   if (security_options->enforce_security) {
     RMW_SET_ERROR_MSG("OpenSplice doesn't support DDS Security");
     return nullptr;
@@ -203,7 +202,7 @@ rmw_create_node(
     goto fail;
   }
 
-  graph_guard_condition = rmw_create_guard_condition();
+  graph_guard_condition = rmw_create_guard_condition(context);
   if (!graph_guard_condition) {
     // error message already set
     goto fail;