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Delete rcl_impl_getenv, replaced by rcutils_get_env #502

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Sep 25, 2019
Merged

Delete rcl_impl_getenv, replaced by rcutils_get_env #502

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f09fe4f
Delete rcl_impl_getenv, replaced by rcutils_get_env
ivanpauno Sep 17, 2019
969489f
Address per review comments
ivanpauno Sep 23, 2019
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29 changes: 0 additions & 29 deletions rcl/src/rcl/common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,35 +24,6 @@ extern "C"
#include "rcl/allocator.h"
#include "rcl/error_handling.h"

#if defined(_WIN32)
# define WINDOWS_ENV_BUFFER_SIZE 2048
static char __env_buffer[WINDOWS_ENV_BUFFER_SIZE];
#endif // defined(_WIN32)

rcl_ret_t
rcl_impl_getenv(const char * env_name, const char ** env_value)
{
RCL_CHECK_ARGUMENT_FOR_NULL(env_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(env_value, RCL_RET_INVALID_ARGUMENT);
*env_value = NULL;
#if !defined(_WIN32)
*env_value = getenv(env_name);
if (*env_value == NULL) {
*env_value = "";
}
#else // !defined(_WIN32)
size_t required_size;
errno_t ret = getenv_s(&required_size, __env_buffer, sizeof(__env_buffer), env_name);
if (ret != 0) {
RCL_SET_ERROR_MSG("value in env variable too large to read in");
return RCL_RET_ERROR;
}
__env_buffer[WINDOWS_ENV_BUFFER_SIZE - 1] = '\0';
*env_value = __env_buffer;
#endif // !defined(_WIN32)
return RCL_RET_OK;
}

rcl_ret_t
rcl_convert_rmw_ret_to_rcl_ret(rmw_ret_t rmw_ret)
{
Expand Down
29 changes: 18 additions & 11 deletions rcl/src/rcl/node.c
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Expand Up @@ -45,11 +45,12 @@ extern "C"
#include "rmw/validate_namespace.h"
#include "rmw/validate_node_name.h"

#include "./common.h"
#include "./context_impl.h"

#define ROS_SECURITY_STRATEGY_VAR_NAME "ROS_SECURITY_STRATEGY"
#define ROS_SECURITY_ENABLE_VAR_NAME "ROS_SECURITY_ENABLE"
#define ROS_DOMAIN_ID_VAR_NAME "ROS_DOMAIN_ID"


typedef struct rcl_node_impl_t
{
Expand Down Expand Up @@ -120,6 +121,7 @@ rcl_node_init(
{
size_t domain_id = 0;
const char * ros_domain_id;
const char * get_env_error_str;
const rmw_guard_condition_t * rmw_graph_guard_condition = NULL;
rcl_guard_condition_options_t graph_guard_condition_options =
rcl_guard_condition_get_default_options();
Expand Down Expand Up @@ -256,8 +258,11 @@ rcl_node_init(
// node rmw_node_handle
if (node->impl->options.domain_id == RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID) {
// Find the domain ID set by the environment.
ret = rcl_impl_getenv("ROS_DOMAIN_ID", &ros_domain_id);
if (ret != RCL_RET_OK) {
get_env_error_str = rcutils_get_env(ROS_DOMAIN_ID_VAR_NAME, &ros_domain_id);
if (NULL != get_env_error_str) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error getting env var '" RCUTILS_STRINGIFY(ROS_DOMAIN_ID_VAR_NAME) "': %s\n",
get_env_error_str);
goto fail;
}
if (ros_domain_id) {
Expand All @@ -278,10 +283,11 @@ rcl_node_init(
const char * ros_security_enable = NULL;
const char * ros_enforce_security = NULL;

if (rcutils_get_env(ROS_SECURITY_ENABLE_VAR_NAME, &ros_security_enable)) {
RCL_SET_ERROR_MSG(
"Environment variable " RCUTILS_STRINGIFY(ROS_SECURITY_ENABLE_VAR_NAME)
" could not be read");
get_env_error_str = rcutils_get_env(ROS_SECURITY_ENABLE_VAR_NAME, &ros_security_enable);
if (NULL != get_env_error_str) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error getting env var '" RCUTILS_STRINGIFY(ROS_SECURITY_ENABLE_VAR_NAME) "': %s\n",
get_env_error_str);
ret = RCL_RET_ERROR;
goto fail;
}
Expand All @@ -290,10 +296,11 @@ rcl_node_init(
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Using security: %s", use_security ? "true" : "false");

if (rcutils_get_env(ROS_SECURITY_STRATEGY_VAR_NAME, &ros_enforce_security)) {
RCL_SET_ERROR_MSG(
"Environment variable " RCUTILS_STRINGIFY(ROS_SECURITY_STRATEGY_VAR_NAME)
" could not be read");
get_env_error_str = rcutils_get_env(ROS_SECURITY_STRATEGY_VAR_NAME, &ros_enforce_security);
if (NULL != get_env_error_str) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error getting env var '" RCUTILS_STRINGIFY(ROS_SECURITY_STRATEGY_VAR_NAME) "': %s\n",
get_env_error_str);
ret = RCL_RET_ERROR;
goto fail;
}
Expand Down
31 changes: 18 additions & 13 deletions rcl/src/rcl/rmw_implementation_identifier_check.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,12 +23,15 @@ extern "C"

#include "rcl/allocator.h"
#include "rcl/error_handling.h"
#include "rcutils/get_env.h"
#include "rcutils/logging_macros.h"
#include "rcutils/strdup.h"
#include "rmw/rmw.h"

#include "rcl/types.h"
#include "./common.h"

#define RMW_IMPLEMENTATION_ENV_VAR_NAME "RMW_IMPLEMENTATION"
#define RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME "RCL_ASSERT_RMW_ID_MATCHES"

// Extracted this portable method of doing a "shared library constructor" from SO:
// http://stackoverflow.com/a/2390626/671658
Expand Down Expand Up @@ -59,14 +62,15 @@ INITIALIZER(initialize) {
rcl_allocator_t allocator = rcl_get_default_allocator();
char * expected_rmw_impl = NULL;
const char * expected_rmw_impl_env = NULL;
rcl_ret_t ret = rcl_impl_getenv("RMW_IMPLEMENTATION", &expected_rmw_impl_env);
if (ret != RCL_RET_OK) {
const char * get_env_error_str = rcutils_get_env(
RMW_IMPLEMENTATION_ENV_VAR_NAME,
&expected_rmw_impl_env);
if (NULL != get_env_error_str) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error getting environment variable 'RMW_IMPLEMENTATION': %s",
rcl_get_error_string().str
);
exit(ret);
"Error getting env var '" RCUTILS_STRINGIFY(RMW_IMPLEMENTATION_ENV_VAR_NAME) "': %s\n",
get_env_error_str);
exit(RCL_RET_ERROR);
}
if (strlen(expected_rmw_impl_env) > 0) {
// Copy the environment variable so it doesn't get over-written by the next getenv call.
Expand All @@ -79,14 +83,15 @@ INITIALIZER(initialize) {

char * asserted_rmw_impl = NULL;
const char * asserted_rmw_impl_env = NULL;
ret = rcl_impl_getenv("RCL_ASSERT_RMW_ID_MATCHES", &asserted_rmw_impl_env);
if (ret != RCL_RET_OK) {
get_env_error_str = rcutils_get_env(
RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, &asserted_rmw_impl_env);
if (NULL != get_env_error_str) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error getting environment variable 'RCL_ASSERT_RMW_ID_MATCHES': %s",
rcl_get_error_string().str
);
exit(ret);
"Error getting env var '"
RCUTILS_STRINGIFY(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME) "': %s\n",
get_env_error_str);
exit(RCL_RET_ERROR);
}
if (strlen(asserted_rmw_impl_env) > 0) {
// Copy the environment variable so it doesn't get over-written by the next getenv call.
Expand Down
11 changes: 0 additions & 11 deletions rcl/test/CMakeLists.txt
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Expand Up @@ -49,17 +49,6 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_common${target_suffix}
SRCS rcl/test_common.cpp
ENV
${rmw_implementation_env_var}
EMPTY_TEST=
NORMAL_TEST=foo
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_context${target_suffix}
SRCS rcl/test_context.cpp
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
Expand Down
59 changes: 0 additions & 59 deletions rcl/test/rcl/test_common.cpp
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