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use rmw_enclave_options_xxx APIs instead. #318

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Merged
pablogs9 merged 2 commits into from
Mar 5, 2025
Merged

use rmw_enclave_options_xxx APIs instead. #318

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6685b3d
use rmw_enclave_options_xxx APIs instead.
fujitatomoya Mar 1, 2025
0486cfa
address review comments.
fujitatomoya Mar 3, 2025
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28 changes: 25 additions & 3 deletions rmw_microxrcedds_c/src/rmw_init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ rmw_init_options_init(
init_options->instance_id = 0;
init_options->implementation_identifier = eprosima_microxrcedds_identifier;
init_options->allocator = allocator;
init_options->enclave = "/";
init_options->enclave = NULL;
init_options->domain_id = 0;
init_options->security_options = rmw_get_default_security_options();

Expand Down Expand Up @@ -133,9 +133,21 @@ rmw_init_options_copy(
return RMW_RET_INVALID_ARGUMENT;
}
memcpy(dst, src, sizeof(rmw_init_options_t));

rmw_ret_t ret;
const rcutils_allocator_t * allocator = &src->allocator;
RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
if (src->enclave != NULL) {
// Expecting this does not happen,
// because rmw_microxrcedds does not support SROS 2 security feature.
ret = rmw_enclave_options_copy(src->enclave, allocator, &dst.enclave);
if (RMW_RET_OK != ret) {
return ret;
}
}
rmw_uxrce_mempool_item_t * memory_node = get_memory(&init_options_memory);
if (!memory_node) {
rmw_enclave_options_fini(dst.enclave, allocator);
// Error already assigned below
RMW_UROS_TRACE_MESSAGE("Not available memory node")
return RMW_RET_ERROR;
}
Expand All @@ -154,7 +166,8 @@ 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);
rcutils_allocator_t * allocator = &init_options->allocator;
RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init_options->implementation_identifier,
RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
Expand All @@ -175,6 +188,15 @@ rmw_init_options_fini(
return RMW_RET_ERROR;
}

rmw_ret_t ret;
if (init_options->enclave != NULL) {
// Expecting this does not happen,
// because rmw_microxrcedds does not support SROS 2 security feature.
ret = rmw_enclave_options_fini(init_options->enclave, allocator);
if (ret != RMW_RET_OK) {
return ret;
}
}

*init_options = rmw_get_zero_initialized_init_options();

Expand Down
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