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update to support new rmw API with namespaces #164

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Apr 8, 2017
Merged

update to support new rmw API with namespaces #164

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13 changes: 12 additions & 1 deletion rmw_opensplice_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,16 @@
extern "C"
{
rmw_node_t *
rmw_create_node(const char * name, size_t domain_id)
rmw_create_node(const char * name, const char * namespace_, size_t domain_id)
{
if (!name) {
RMW_SET_ERROR_MSG("name is null");
return nullptr;
}
if (!namespace_) {
RMW_SET_ERROR_MSG("namespace_ is null");
return nullptr;
}
DDS::DomainParticipantFactory_var dp_factory = DDS::DomainParticipantFactory::get_instance();
if (!dp_factory) {
RMW_SET_ERROR_MSG("failed to get domain participant factory");
Expand Down Expand Up @@ -202,6 +206,13 @@ rmw_create_node(const char * name, size_t domain_id)
}
memcpy(const_cast<char *>(node->name), name, strlen(name) + 1);

node->namespace_ = reinterpret_cast<const char *>(rmw_allocate(sizeof(char) * strlen(namespace_) + 1));
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This memory is never freed. See #194.

if (!node->namespace_) {
RMW_SET_ERROR_MSG("failed to allocate memory for node namespace");
goto fail;
}
memcpy(const_cast<char *>(node->namespace_), namespace_, strlen(namespace_) + 1);

buf = rmw_allocate(sizeof(OpenSpliceStaticNodeInfo));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
Expand Down