Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

use rmw_enclave_options_xxx APIs instead. #318

Merged
merged 2 commits into from
Mar 5, 2025
Merged

use rmw_enclave_options_xxx APIs instead. #318

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6685b3d
use rmw_enclave_options_xxx APIs instead.
fujitatomoya Mar 1, 2025
0486cfa
address review comments.
fujitatomoya Mar 3, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 25 additions & 3 deletions rmw_microxrcedds_c/src/rmw_init.c
View file
Open in desktop
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