From baa3f379d44a23016484880f78997ecdd5feb216 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Mon, 29 Jul 2024 00:50:46 -0700 Subject: [PATCH] remove rmw_localhost_only_t. (#156) Signed-off-by: Tomoya Fujita --- README.md | 6 +++--- rmw_connextdds_common/include/rmw_connextdds/context.hpp | 6 +++--- rmw_connextdds_common/src/common/rmw_context.cpp | 1 - rmw_connextdds_common/src/common/rmw_serde.cpp | 2 -- 4 files changed, 6 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 0986674c..4d36a475 100644 --- a/README.md +++ b/README.md @@ -297,9 +297,9 @@ from Connext. If this variable is unspecified, or set to `all`, then `rmw_connextdds` will modify the default DomainParticipantQos with settings derived from ROS 2 options (e.g. -"localhost only", or "node enclave"), and some additional optimizations meant to -improve the out of the box experiene (e.g. speed up endpoint discovery, and increase -the size of type information shared via discovery). +"node enclave"), and some additional optimizations meant to improve the out of +the box experiene (e.g. speed up endpoint discovery, and increase the size of type +information shared via discovery). If the variable is set to `basic`, then only those settings associated with ROS 2 options will be modified. diff --git a/rmw_connextdds_common/include/rmw_connextdds/context.hpp b/rmw_connextdds_common/include/rmw_connextdds/context.hpp index 343da5be..ca81b3ce 100644 --- a/rmw_connextdds_common/include/rmw_connextdds/context.hpp +++ b/rmw_connextdds_common/include/rmw_connextdds/context.hpp @@ -83,13 +83,13 @@ struct rmw_context_impl_s { // Always override the default DomainParticipantQoS obtained at runtime from // Connext with RMW-specific configuration. This will include settings derived - // from ROS 2 configuration parameters (e.g. "localhost_only", or "enclave"), - // but also some additional configurations that the RMW performs arbitrarly + // from ROS 2 configuration parameters (e.g. "enclave"), + // but also some additional configurations that the RMW performs arbitrary // to improve the out of the box experience. Note that some of these customizations // can also be disabled individually (e.g. fast endpoint discovery). All, // Only perform basic modifications on the default DomainParticipantQos value - // based on ROS 2 configuration parameters (e.g. "localhost only", and "enclave"). + // based on ROS 2 configuration parameters (e.g. "enclave"). // All other RMW-specific customizations will not be applied. Basic, // Use the default DomainParticipantQoS returned by Connext without any modification. diff --git a/rmw_connextdds_common/src/common/rmw_context.cpp b/rmw_connextdds_common/src/common/rmw_context.cpp index 117c05b3..81a58353 100644 --- a/rmw_connextdds_common/src/common/rmw_context.cpp +++ b/rmw_connextdds_common/src/common/rmw_context.cpp @@ -937,7 +937,6 @@ rmw_api_connextdds_init_options_init( init_options->implementation_identifier = RMW_CONNEXTDDS_ID; init_options->allocator = allocator; init_options->impl = nullptr; - init_options->localhost_only = RMW_LOCALHOST_ONLY_DEFAULT; init_options->domain_id = RMW_DEFAULT_DOMAIN_ID; init_options->enclave = nullptr; init_options->security_options = rmw_get_zero_initialized_security_options(); diff --git a/rmw_connextdds_common/src/common/rmw_serde.cpp b/rmw_connextdds_common/src/common/rmw_serde.cpp index cf10b0eb..55971c9a 100644 --- a/rmw_connextdds_common/src/common/rmw_serde.cpp +++ b/rmw_connextdds_common/src/common/rmw_serde.cpp @@ -42,7 +42,6 @@ rmw_api_connextdds_serialize( try { // declare a mock context struct to build a temporary type support rmw_context_t ctx_base; - ctx_base.options.localhost_only = RMW_LOCALHOST_ONLY_DISABLED; rmw_context_impl_t ctx(&ctx_base); ctx.request_reply_mapping = RMW_Connext_RequestReplyMapping::Extended; RMW_Connext_MessageTypeSupport type_support( @@ -79,7 +78,6 @@ rmw_api_connextdds_deserialize( try { // declare a mock context struct to build a temporary type support rmw_context_t ctx_base; - ctx_base.options.localhost_only = RMW_LOCALHOST_ONLY_DISABLED; rmw_context_impl_t ctx(&ctx_base); ctx.request_reply_mapping = RMW_Connext_RequestReplyMapping::Extended; RMW_Connext_MessageTypeSupport type_support(