deduplicate code

rmw_connext_cpp/src/rmw_guard_condition.cpp

@@ -24,14 +24,7 @@ extern "C"
 rmw_guard_condition_t *
 rmw_create_guard_condition(rmw_context_t * context)
 {
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
-    init context,
-    context->implementation_identifier,
-    rti_connext_identifier,
-    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
-    return NULL);
-  return create_guard_condition(rti_connext_identifier);
+  return create_guard_condition(rti_connext_identifier, context);
 }
 
 rmw_ret_t

rmw_connext_cpp/src/rmw_node.cpp

@@ -30,15 +30,8 @@ rmw_create_node(
   size_t domain_id,
   const rmw_node_security_options_t * security_options)
 {
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
-    init context,
-    context->implementation_identifier,
-    rti_connext_identifier,
-    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
-    return NULL);
   return create_node(
-    rti_connext_identifier, name, namespace_, domain_id, security_options);
+    rti_connext_identifier, context, name, namespace_, domain_id, security_options);
 }
 
 rmw_ret_t

rmw_connext_dynamic_cpp/src/functions.cpp

@@ -289,15 +289,8 @@ rmw_create_node(
   size_t domain_id,
   const rmw_node_security_options_t * security_options)
 {
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
-    init context,
-    context->implementation_identifier,
-    rti_connext_dynamic_identifier,
-    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
-    return NULL);
   return create_node(
-    rti_connext_dynamic_identifier, name, namespace_, domain_id, security_options);
+    rti_connext_dynamic_identifier, context, name, namespace_, domain_id, security_options);
 }
 
 rmw_ret_t
@@ -1463,14 +1456,7 @@ rmw_deserialize(
 rmw_guard_condition_t *
 rmw_create_guard_condition(rmw_context_t * context)
 {
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
-    init context,
-    context->implementation_identifier,
-    rti_connext_dynamic_identifier,
-    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
-    return NULL);
-  return create_guard_condition(rti_connext_dynamic_identifier);
+  return create_guard_condition(rti_connext_dynamic_identifier, context);
 }
 
 rmw_ret_t

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/guard_condition.hpp

@@ -23,7 +23,7 @@
 
 RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_guard_condition_t *
-create_guard_condition(const char * implementation_identifier);
+create_guard_condition(const char * implementation_identifier, rmw_context_t * context);
 
 RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_ret_t

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/node.hpp

@@ -23,6 +23,7 @@ RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_node_t *
 create_node(
   const char * implementation_identifier,
+  rmw_context_t * context,
   const char * name,
   const char * namespace_,
   size_t domain_id,

rmw_connext_shared_cpp/src/guard_condition.cpp

@@ -20,8 +20,15 @@
 #include "rmw/impl/cpp/macros.hpp"
 
 rmw_guard_condition_t *
-create_guard_condition(const char * implementation_identifier)
+create_guard_condition(const char * implementation_identifier, rmw_context_t * context)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    implementation_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   rmw_guard_condition_t * guard_condition = rmw_guard_condition_allocate();
   if (!guard_condition) {
     RMW_SET_ERROR_MSG("failed to allocate guard condition");

rmw_connext_shared_cpp/src/node.cpp

@@ -28,11 +28,19 @@
 rmw_node_t *
 create_node(
   const char * implementation_identifier,
+  rmw_context_t * context,
   const char * name,
   const char * namespace_,
   size_t domain_id,
   const rmw_node_security_options_t * security_options)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    implementation_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   if (!security_options) {
     RMW_SET_ERROR_MSG("security_options is null");
     return nullptr;
@@ -277,7 +285,7 @@ create_node(
     goto fail;
   }
 
-  graph_guard_condition = create_guard_condition(implementation_identifier);
+  graph_guard_condition = create_guard_condition(implementation_identifier, context);
   if (!graph_guard_condition) {
     RMW_SET_ERROR_MSG("failed to create graph guard condition");
     goto fail;