[rmw_connextdds] New RMW discovery options (#108)

* Use the new discovery params

Signed-off-by: Michael X. Grey <grey@openrobotics.org>

* Update to latest rmw API

Signed-off-by: Michael X. Grey <grey@openrobotics.org>

* Fix typo

Signed-off-by: Michael X. Grey <grey@openrobotics.org>

* Fix memory management

Signed-off-by: Michael X. Grey <grey@openrobotics.org>

* Make sure NDDS_DISCOVERY_PEERS is not empty when ROS_AUTOMATIC_DISCOVERY_RANGE is LOCALHOST
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* fix up finalize logic

Signed-off-by: William Woodall <william@osrfoundation.org>

* typo

Signed-off-by: William Woodall <william@osrfoundation.org>

* check the return code of ensure_length()

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup use of memcpy when copying a string

Signed-off-by: William Woodall <william@osrfoundation.org>

* improve formatting of domain_tag string

Signed-off-by: William Woodall <william@osrfoundation.org>

* use c++17 [[fallthrough]] attribute

Signed-off-by: William Woodall <william@osrfoundation.org>

* change style of switch statement

Signed-off-by: William Woodall <william@osrfoundation.org>

* undo change to request c++17 vs 14 since we're not using fallthrough

Signed-off-by: William Woodall <william@osrfoundation.org>

* Handle all discovery options in rmw_context.cpp
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Reset multicast_receive_addresses instead of setting NDDS_DISCOVERY_PEERS
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* error when range is NOT_SET

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup review comments

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix a zero initialization issue

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove redundant break statement

Signed-off-by: William Woodall <william@osrfoundation.org>

* Init discovery_options when initializing node options

Signed-off-by: Shane Loretz <sloretz@google.com>

* Set maximum participant ID to 32 on localhost

Signed-off-by: Shane Loretz <sloretz@google.com>

* Skipping adding peers when automatic_discovery_range is SYSTEM_DEFAULT

Signed-off-by: Shane Loretz <sloretz@google.com>

* Try solving los of precision warning on Windows

Signed-off-by: Shane Loretz <sloretz@google.com>

* Fix windows warning

Signed-off-by: Shane Loretz <sloretz@google.com>

---------

Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: William Woodall <william@osrfoundation.org>
Signed-off-by: Shane Loretz <sloretz@google.com>
Co-authored-by: Shane Loretz <sloretz@google.com>
Co-authored-by: Andrea Sorbini <asorbini@rti.com>
Co-authored-by: William Woodall <william@osrfoundation.org>

rmw_connextdds_common/include/rmw_connextdds/context.hpp

@@ -22,6 +22,7 @@
 #include <mutex>
 #include <regex>
 #include <string>
+#include <memory>
 
 #include "rmw_connextdds/dds_api.hpp"
 #include "rmw_connextdds/log.hpp"
@@ -78,8 +79,11 @@ struct rmw_context_impl_s
   DDS_DataReader * dr_publications;
   DDS_DataReader * dr_subscriptions;
 
-  /* Keep track of whether the DomainParticipant is localhost only */
-  bool localhost_only;
+  /* Keep track of what discovery settings were used when initializing */
+  rmw_discovery_options_t * discovery_options;
+
+  /* Manage the memory of the domain tag */
+  char * domain_tag;
 
   /* Global configuration for QoS profiles */
   std::string qos_ctx_name;
@@ -160,7 +164,8 @@ struct rmw_context_impl_s
     dr_participants(nullptr),
     dr_publications(nullptr),
     dr_subscriptions(nullptr),
-    localhost_only(base->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED)
+    discovery_options(nullptr),
+    domain_tag(nullptr)
   {
     /* destructor relies on these being initialized properly */
     common.thread_is_running.store(false);
@@ -180,17 +185,15 @@ struct rmw_context_impl_s
   // node_count is increased
   rmw_ret_t
   initialize_node(
-    const char * const node_name,
-    const char * const node_namespace,
-    const bool localhost_only);
+    const rmw_discovery_options_t * const discovery_options);
 
   // Destroys the participant, when node_count reaches 0.
   rmw_ret_t
   finalize_node();
 
   // Initialize the DomainParticipant associated with the context.
   rmw_ret_t
-  initialize_participant(const bool localhost_only);
+  initialize_participant();
 
   // Enable the DomainParticipant associated with the context.
   rmw_ret_t