Switch to one Participant per Context

rcl/include/rcl/graph.h

@@ -443,8 +443,8 @@ rcl_get_node_names(
 
 /// Return a list of available nodes in the ROS graph, including their security context names.
 /**
- * \sa Works like rcl_get_node_names, but it also include the security context name the node is
- * using as an output.
+ * \sa An \ref rcl_get_node_names equivalent, but including in its output the security context
+ * name the node is using.
  *
  * <hr>
  * Attribute          | Adherence

rcl/include/rcl/validate_security_context_name.h

@@ -44,8 +44,8 @@ extern "C"
 
 /// Determine if a given security context name is valid.
 /**
- * /sa The same rules as rmw_validate_namespace are used.
- * The only difference is the maximum length, which can be 255 characters.
+ * \sa The same rules as \ref rmw_validate_namespace are used.
+ * The only difference is in the maximum allowed length, which can be up to 255 characters.
  *
  * \param[in] security_context security_context to be validated
  * \param[out] validation_result int in which the result of the check is stored

rcl/src/rcl/arguments.c

@@ -1100,6 +1100,15 @@ rcl_arguments_copy(
       }
     }
   }
+  char * security_context_copy = rcutils_strdup(args->impl->security_context, allocator);
+  if (args->impl->security_context && !security_context_copy) {
+    if (RCL_RET_OK != rcl_arguments_fini(args_out)) {
+      RCL_SET_ERROR_MSG("Error while finalizing arguments due to another error");
+    }
+    RCL_SET_ERROR_MSG("Error while copying security context argument");
+    return RCL_RET_BAD_ALLOC;
+  }
+  args_out->impl->security_context = security_context_copy;
   return RCL_RET_OK;
 }
 

rcl/src/rcl/init.c

@@ -195,7 +195,7 @@ rcl_init(
   }
   if (RCL_SECURITY_CONTEXT_NAME_VALID != validation_result) {
     RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
-      "security context name is not valid: '%s'. Invalid index: %zu",
+      "Security context name is not valid: '%s'. Invalid index: %zu",
       rcl_security_context_name_validation_result_string(validation_result),
       invalid_index);
     fail_ret = RMW_RET_ERROR;

rcl/src/rcl/validate_security_context_name.c

@@ -53,18 +53,18 @@ rcl_validate_security_context_name_with_size(
     return RCL_RET_INVALID_ARGUMENT;
   }
 
-  int t_validation_result;
-  size_t t_invalid_index;
+  int tmp_validation_result;
+  size_t tmp_invalid_index;
   rmw_ret_t ret = rmw_validate_namespace_with_size(
-    security_context, security_context_length, &t_validation_result, &t_invalid_index);
+    security_context, security_context_length, &tmp_validation_result, &tmp_invalid_index);
   if (ret != RMW_RET_OK) {
     return rcl_convert_rmw_ret_to_rcl_ret(ret);
   }
 
-  if (t_validation_result != RMW_NAMESPACE_VALID &&
-    t_validation_result != RMW_NAMESPACE_INVALID_TOO_LONG)
+  if (tmp_validation_result != RMW_NAMESPACE_VALID &&
+    tmp_validation_result != RMW_NAMESPACE_INVALID_TOO_LONG)
   {
-    switch (t_validation_result) {
+    switch (tmp_validation_result) {
       case RMW_NAMESPACE_INVALID_IS_EMPTY_STRING:
         *validation_result = RCL_SECURITY_CONTEXT_NAME_INVALID_IS_EMPTY_STRING;
         break;
@@ -91,7 +91,7 @@ rcl_validate_security_context_name_with_size(
             default_err_msg, sizeof(default_err_msg),
             "rcl_validate_security_context_name_with_size(): "
             "unknown rmw_validate_namespace_with_size() result '%d'",
-            t_validation_result);
+            tmp_validation_result);
           if (ret < 0) {
             RCL_SET_ERROR_MSG(
               "rcl_validate_security_context_name_with_size(): "
@@ -103,13 +103,13 @@ rcl_validate_security_context_name_with_size(
         return RCL_RET_ERROR;
     }
     if (invalid_index) {
-      *invalid_index = t_invalid_index;
+      *invalid_index = tmp_invalid_index;
     }
     return RCL_RET_OK;
   }
 
   // security_context might be longer that namespace length, check false positives and correct
-  if (t_validation_result == RMW_NAMESPACE_INVALID_TOO_LONG &&
+  if (tmp_validation_result == RMW_NAMESPACE_INVALID_TOO_LONG &&
     security_context_length <= RCL_SECURITY_CONTEXT_NAME_MAX_LENGTH)
   {
     *validation_result = RCL_SECURITY_CONTEXT_NAME_VALID;