Add context name and namespace

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

rmw/include/rmw/init_options.h

@@ -54,6 +54,10 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
   rmw_security_options_t security_options;
   /// Enable localhost only
   rmw_localhost_only_t localhost_only;
+  /// Context name
+  char * name;
+  /// Context namespace_
+  char * namespace_;
 
   // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
   /// Allocator used during internal allocation of init options, if needed.

rmw/include/rmw/security.h

@@ -0,0 +1,40 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__SECURITY_H_
+#define RMW__SECURITY_H_
+
+#include <stdbool.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Indicates if node or context name have to be used in security directory lookup.
+/**
+ * \returns true if node name should be used, or
+ * \returns false if context name should be used.
+ */
+RMW_PUBLIC
+bool
+rmw_use_node_name_in_security_directory_lookup();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__SECURITY_H_

rmw/include/rmw/security_options.h

@@ -49,11 +49,21 @@ RMW_PUBLIC
 rmw_security_options_t
 rmw_get_default_security_options();
 
+/// Copy the given security options.
+RMW_PUBLIC
+rmw_ret_t
+rmw_security_options_copy(
+  const rmw_security_options_t * src,
+  const rcutils_allocator_t * allocator,
+  rmw_security_options_t * dst);
+
 /// Copy the security_root_path in the security_options using the allocator.
 /**
  * \param security_root_path path to be copied.
  * \param allocator allocator used to store the new string.
  * \param security_options security options to be set.
+ * \returns RMW_RET_BAD_ALLOC, or
+ * \returns RMW_RET_OK
  */
 rmw_ret_t
 rmw_security_options_set_root_path(

rmw/src/init_options.c

@@ -27,9 +27,11 @@ rmw_get_zero_initialized_init_options(void)
   return (const rmw_init_options_t) {
            .domain_id = RMW_DEFAULT_DOMAIN_ID,
            .localhost_only = false,
-           .instance_id = 0,
            .implementation_identifier = NULL,
            .impl = NULL,
+           .instance_id = 0,
+           .name = NULL,
+           .namespace_ = NULL,
            .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }

rmw/src/security_options.c

@@ -16,6 +16,7 @@
 
 #include "rcutils/strdup.h"
 
+#include "rmw/error_handling.h"
 #include "rmw/security_options.h"
 
 rmw_security_options_t
@@ -34,14 +35,37 @@ rmw_get_default_security_options()
   return default_options;
 }
 
+rmw_ret_t
+rmw_security_options_copy(
+  const rmw_security_options_t * src,
+  const rcutils_allocator_t * allocator,
+  rmw_security_options_t * dst)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
+  *dst = *src;
+
+  dst->security_root_path = rcutils_strdup(src->security_root_path, *allocator);
+  if (src->security_root_path && !dst->security_root_path) {
+    RMW_SET_ERROR_MSG("failed to copy security root path");
+    return RMW_RET_BAD_ALLOC;
+  }
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 rmw_security_options_set_root_path(
   const char * security_root_path,
   rcutils_allocator_t * allocator,
   rmw_security_options_t * security_options)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
   security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
   if (!security_options->security_root_path) {
+    RMW_SET_ERROR_MSG("failed to copy security root path");
     return RMW_RET_BAD_ALLOC;
   }
   return RMW_RET_OK;
@@ -52,9 +76,8 @@ rmw_security_options_fini(
   rmw_security_options_t * security_options,
   rcutils_allocator_t * allocator)
 {
-  if (!allocator) {
-    return RMW_RET_INVALID_ARGUMENT;
-  }
+  RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   allocator->deallocate(security_options->security_root_path, allocator->state);
   *security_options = rmw_get_zero_initialized_security_options();
   return RMW_RET_OK;