78 lines
2.5 KiB
C
78 lines
2.5 KiB
C
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// Copyright 2018 Apex.AI, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./impl/node_params.h"
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#include "./impl/types.h"
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#include "./impl/yaml_variant.h"
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#include "rcutils/error_handling.h"
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rcutils_ret_t node_params_init(
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rcl_node_params_t * node_params,
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const rcutils_allocator_t allocator)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(node_params, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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node_params->parameter_names = allocator.zero_allocate(
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MAX_NUM_PARAMS_PER_NODE, sizeof(char *), allocator.state);
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if (NULL == node_params->parameter_names) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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node_params->parameter_values = allocator.zero_allocate(
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MAX_NUM_PARAMS_PER_NODE, sizeof(rcl_variant_t), allocator.state);
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if (NULL == node_params->parameter_values) {
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allocator.deallocate(node_params->parameter_names, allocator.state);
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node_params->parameter_names = NULL;
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return RCUTILS_RET_BAD_ALLOC;
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}
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return RCUTILS_RET_OK;
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}
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void rcl_yaml_node_params_fini(
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rcl_node_params_t * node_params_st,
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const rcutils_allocator_t allocator)
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{
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if (NULL == node_params_st) {
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return;
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}
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if (NULL != node_params_st->parameter_names) {
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for (size_t parameter_idx = 0U; parameter_idx < node_params_st->num_params;
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parameter_idx++)
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{
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char * param_name = node_params_st->parameter_names[parameter_idx];
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if (NULL != param_name) {
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allocator.deallocate(param_name, allocator.state);
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}
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}
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allocator.deallocate(node_params_st->parameter_names, allocator.state);
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node_params_st->parameter_names = NULL;
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}
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if (NULL != node_params_st->parameter_values) {
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for (size_t parameter_idx = 0U; parameter_idx < node_params_st->num_params;
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parameter_idx++)
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{
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rcl_yaml_variant_fini(&(node_params_st->parameter_values[parameter_idx]), allocator);
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}
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allocator.deallocate(node_params_st->parameter_values, allocator.state);
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node_params_st->parameter_values = NULL;
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}
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}
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