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Add macro semicolons (#303)

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* Add semicolons to all RCLCPP and RCUTILS macros.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Add semicolons in Windows stdatomic_helper.h

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
This commit is contained in:
Chris Lalancette 2018-10-05 17:30:27 -04:00 • committed by GitHub
parent f1293b7d3b
commit 3d0e2b7966
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
17 changed files with 125 additions and 124 deletions
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18
rcl/src/rcl/client.c
View file

@ -69,7 +69,7 @@ rcl_client_init(
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT, *allocator);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing client for service name '%s'", service_name) ROS_PACKAGE_NAME, "Initializing client for service name '%s'", service_name);
if (client->impl) { if (client->impl) {
RCL_SET_ERROR_MSG("client already initialized, or memory was unintialized", *allocator); RCL_SET_ERROR_MSG("client already initialized, or memory was unintialized", *allocator);
return RCL_RET_ALREADY_INIT; return RCL_RET_ALREADY_INIT;
@ -93,7 +93,7 @@ rcl_client_init(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini string_map (%d) during error handling: %s\n", "failed to fini string_map (%d) during error handling: %s\n",
rcutils_ret, rcutils_ret,
rcutils_get_error_string_safe()) rcutils_get_error_string_safe());
} }
if (ret == RCL_RET_BAD_ALLOC) { if (ret == RCL_RET_BAD_ALLOC) {
return ret; return ret;
@ -123,7 +123,7 @@ rcl_client_init(
} }
goto cleanup; goto cleanup;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name) RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name);
const rcl_node_options_t * node_options = rcl_node_get_options(node); const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (NULL == node_options) { if (NULL == node_options) {
@ -176,7 +176,7 @@ rcl_client_init(
} }
// options // options
client->impl->options = *options; client->impl->options = *options;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
ret = RCL_RET_OK; ret = RCL_RET_OK;
goto cleanup; goto cleanup;
fail: fail:
@ -199,7 +199,7 @@ rcl_ret_t
rcl_client_fini(rcl_client_t * client, rcl_node_t * node) rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
{ {
(void)node; (void)node;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing client") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing client");
rcl_ret_t result = RCL_RET_OK; rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@ -219,7 +219,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
} }
allocator.deallocate(client->impl, allocator.state); allocator.deallocate(client->impl, allocator.state);
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client finalized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client finalized");
return result; return result;
} }
@ -266,7 +266,7 @@ rcl_client_get_rmw_handle(const rcl_client_t * client)
rcl_ret_t rcl_ret_t
rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t * sequence_number) rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t * sequence_number)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client sending service request") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client sending service request");
if (!rcl_client_is_valid(client, NULL)) { if (!rcl_client_is_valid(client, NULL)) {
return RCL_RET_CLIENT_INVALID; return RCL_RET_CLIENT_INVALID;
} }
@ -290,7 +290,7 @@ rcl_take_response(
rmw_request_id_t * request_header, rmw_request_id_t * request_header,
void * ros_response) void * ros_response)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client taking service response") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client taking service response");
if (!rcl_client_is_valid(client, NULL)) { if (!rcl_client_is_valid(client, NULL)) {
return RCL_RET_CLIENT_INVALID; return RCL_RET_CLIENT_INVALID;
} }
@ -307,7 +307,7 @@ rcl_take_response(
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Client take response succeeded: %s", taken ? "true" : "false") ROS_PACKAGE_NAME, "Client take response succeeded: %s", taken ? "true" : "false");
if (!taken) { if (!taken) {
return RCL_RET_CLIENT_TAKE_FAILED; return RCL_RET_CLIENT_TAKE_FAILED;
} }

18
rcl/src/rcl/node.c
View file

@ -155,7 +155,7 @@ rcl_node_init(
RCL_CHECK_ARGUMENT_FOR_NULL(namespace_, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(namespace_, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing node '%s' in namespace '%s'", name, namespace_) ROS_PACKAGE_NAME, "Initializing node '%s' in namespace '%s'", name, namespace_);
if (node->impl) { if (node->impl) {
RCL_SET_ERROR_MSG("node already initialized, or struct memory was unintialized", *allocator); RCL_SET_ERROR_MSG("node already initialized, or struct memory was unintialized", *allocator);
return RCL_RET_ALREADY_INIT; return RCL_RET_ALREADY_INIT;
@ -281,7 +281,7 @@ rcl_node_init(
} }
// actual domain id // actual domain id
node->impl->actual_domain_id = domain_id; node->impl->actual_domain_id = domain_id;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id) RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id);
const char * ros_security_enable = NULL; const char * ros_security_enable = NULL;
const char * ros_enforce_security = NULL; const char * ros_enforce_security = NULL;
@ -296,7 +296,7 @@ rcl_node_init(
bool use_security = (0 == strcmp(ros_security_enable, "true")); bool use_security = (0 == strcmp(ros_security_enable, "true"));
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Using security: %s", use_security ? "true" : "false") ROS_PACKAGE_NAME, "Using security: %s", use_security ? "true" : "false");
if (rcutils_get_env(ROS_SECURITY_STRATEGY_VAR_NAME, &ros_enforce_security)) { if (rcutils_get_env(ROS_SECURITY_STRATEGY_VAR_NAME, &ros_enforce_security)) {
RCL_SET_ERROR_MSG( RCL_SET_ERROR_MSG(
@ -359,7 +359,7 @@ rcl_node_init(
// error message already set // error message already set
goto fail; goto fail;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
ret = RCL_RET_OK; ret = RCL_RET_OK;
goto cleanup; goto cleanup;
fail: fail:
@ -373,7 +373,7 @@ fail:
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini rmw node in error recovery: %s", rmw_get_error_string_safe() "failed to fini rmw node in error recovery: %s", rmw_get_error_string_safe()
) );
} }
} }
if (node->impl->graph_guard_condition) { if (node->impl->graph_guard_condition) {
@ -382,7 +382,7 @@ fail:
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini guard condition in error recovery: %s", rcl_get_error_string_safe() "failed to fini guard condition in error recovery: %s", rcl_get_error_string_safe()
) );
} }
allocator->deallocate(node->impl->graph_guard_condition, allocator->state); allocator->deallocate(node->impl->graph_guard_condition, allocator->state);
} }
@ -392,7 +392,7 @@ fail:
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini arguments in error recovery: %s", rcl_get_error_string_safe() "failed to fini arguments in error recovery: %s", rcl_get_error_string_safe()
) );
} }
} }
allocator->deallocate(node->impl, allocator->state); allocator->deallocate(node->impl, allocator->state);
@ -415,7 +415,7 @@ cleanup:
rcl_ret_t rcl_ret_t
rcl_node_fini(rcl_node_t * node) rcl_node_fini(rcl_node_t * node)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing node") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing node");
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!node->impl) { if (!node->impl) {
// Repeat calls to fini or calling fini on a zero initialized node is ok. // Repeat calls to fini or calling fini on a zero initialized node is ok.
@ -444,7 +444,7 @@ rcl_node_fini(rcl_node_t * node)
} }
allocator.deallocate(node->impl, allocator.state); allocator.deallocate(node->impl, allocator.state);
node->impl = NULL; node->impl = NULL;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node finalized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node finalized");
return result; return result;
} }

12
rcl/src/rcl/publisher.c
View file

@ -72,7 +72,7 @@ rcl_publisher_init(
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing publisher for topic name '%s'", topic_name) ROS_PACKAGE_NAME, "Initializing publisher for topic name '%s'", topic_name);
// Expand the given topic name. // Expand the given topic name.
rcutils_allocator_t rcutils_allocator = *allocator; // implicit conversion to rcutils version rcutils_allocator_t rcutils_allocator = *allocator; // implicit conversion to rcutils version
rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map(); rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
@ -92,7 +92,7 @@ rcl_publisher_init(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini string_map (%d) during error handling: %s", "failed to fini string_map (%d) during error handling: %s",
rcutils_ret, rcutils_ret,
rcutils_get_error_string_safe()) rcutils_get_error_string_safe());
} }
if (ret == RCL_RET_BAD_ALLOC) { if (ret == RCL_RET_BAD_ALLOC) {
return ret; return ret;
@ -122,7 +122,7 @@ rcl_publisher_init(
} }
goto cleanup; goto cleanup;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name) RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name);
const rcl_node_options_t * node_options = rcl_node_get_options(node); const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (NULL == node_options) { if (NULL == node_options) {
@ -200,7 +200,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
if (!rcl_node_is_valid(node, NULL)) { if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID; return RCL_RET_NODE_INVALID;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing publisher") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing publisher");
if (publisher->impl) { if (publisher->impl) {
rcl_allocator_t allocator = publisher->impl->options.allocator; rcl_allocator_t allocator = publisher->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node); rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);
@ -215,7 +215,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
} }
allocator.deallocate(publisher->impl, allocator.state); allocator.deallocate(publisher->impl, allocator.state);
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher finalized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher finalized");
return result; return result;
} }
@ -233,7 +233,7 @@ rcl_publisher_get_default_options()
rcl_ret_t rcl_ret_t
rcl_publish(const rcl_publisher_t * publisher, const void * ros_message) rcl_publish(const rcl_publisher_t * publisher, const void * ros_message)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher publishing message") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher publishing message");
if (!rcl_publisher_is_valid(publisher, NULL)) { if (!rcl_publisher_is_valid(publisher, NULL)) {
return RCL_RET_PUBLISHER_INVALID; return RCL_RET_PUBLISHER_INVALID;
} }

2
rcl/src/rcl/rcl.c
View file

@ -139,7 +139,7 @@ fail:
rcl_ret_t rcl_ret_t
rcl_shutdown() rcl_shutdown()
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Shutting down") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Shutting down");
if (!rcl_ok()) { if (!rcl_ok()) {
// must use default allocator here because __rcl_allocator may not be set yet // must use default allocator here because __rcl_allocator may not be set yet
RCL_SET_ERROR_MSG("rcl_shutdown called before rcl_init", rcl_get_default_allocator()); RCL_SET_ERROR_MSG("rcl_shutdown called before rcl_init", rcl_get_default_allocator());

14
rcl/src/rcl/rmw_implementation_identifier_check.c
View file

@ -65,14 +65,14 @@ INITIALIZER(initialize) {
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"Error getting environment variable 'RMW_IMPLEMENTATION': %s", "Error getting environment variable 'RMW_IMPLEMENTATION': %s",
rcl_get_error_string_safe() rcl_get_error_string_safe()
) );
exit(ret); exit(ret);
} }
if (strlen(expected_rmw_impl_env) > 0) { if (strlen(expected_rmw_impl_env) > 0) {
// Copy the environment variable so it doesn't get over-written by the next getenv call. // Copy the environment variable so it doesn't get over-written by the next getenv call.
expected_rmw_impl = rcutils_strdup(expected_rmw_impl_env, allocator); expected_rmw_impl = rcutils_strdup(expected_rmw_impl_env, allocator);
if (!expected_rmw_impl) { if (!expected_rmw_impl) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "allocation failed") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "allocation failed");
exit(RCL_RET_BAD_ALLOC); exit(RCL_RET_BAD_ALLOC);
} }
} }
@ -85,14 +85,14 @@ INITIALIZER(initialize) {
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"Error getting environment variable 'RCL_ASSERT_RMW_ID_MATCHES': %s", "Error getting environment variable 'RCL_ASSERT_RMW_ID_MATCHES': %s",
rcl_get_error_string_safe() rcl_get_error_string_safe()
) );
exit(ret); exit(ret);
} }
if (strlen(asserted_rmw_impl_env) > 0) { if (strlen(asserted_rmw_impl_env) > 0) {
// Copy the environment variable so it doesn't get over-written by the next getenv call. // Copy the environment variable so it doesn't get over-written by the next getenv call.
asserted_rmw_impl = rcutils_strdup(asserted_rmw_impl_env, allocator); asserted_rmw_impl = rcutils_strdup(asserted_rmw_impl_env, allocator);
if (!asserted_rmw_impl) { if (!asserted_rmw_impl) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "allocation failed") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "allocation failed");
exit(RCL_RET_BAD_ALLOC); exit(RCL_RET_BAD_ALLOC);
} }
} }
@ -104,7 +104,7 @@ INITIALIZER(initialize) {
"Values of RMW_IMPLEMENTATION ('%s') and RCL_ASSERT_RMW_ID_MATCHES ('%s') environment " "Values of RMW_IMPLEMENTATION ('%s') and RCL_ASSERT_RMW_ID_MATCHES ('%s') environment "
"variables do not match, exiting with %d.", "variables do not match, exiting with %d.",
expected_rmw_impl, asserted_rmw_impl, RCL_RET_ERROR expected_rmw_impl, asserted_rmw_impl, RCL_RET_ERROR
) );
exit(RCL_RET_ERROR); exit(RCL_RET_ERROR);
} }
@ -132,7 +132,7 @@ INITIALIZER(initialize) {
"(expected identifier of '%s'), exiting with %d.", "(expected identifier of '%s'), exiting with %d.",
expected_rmw_impl, expected_rmw_impl,
RCL_RET_ERROR RCL_RET_ERROR
) );
exit(RCL_RET_ERROR); exit(RCL_RET_ERROR);
} }
if (strcmp(actual_rmw_impl_id, expected_rmw_impl) != 0) { if (strcmp(actual_rmw_impl_id, expected_rmw_impl) != 0) {
@ -142,7 +142,7 @@ INITIALIZER(initialize) {
expected_rmw_impl, expected_rmw_impl,
actual_rmw_impl_id, actual_rmw_impl_id,
RCL_RET_MISMATCHED_RMW_ID RCL_RET_MISMATCHED_RMW_ID
) );
exit(RCL_RET_MISMATCHED_RMW_ID); exit(RCL_RET_MISMATCHED_RMW_ID);
} }
// Free the memory now that all checking has passed. // Free the memory now that all checking has passed.

20
rcl/src/rcl/service.c
View file

@ -66,7 +66,7 @@ rcl_service_init(
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT, *allocator);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing service for service name '%s'", service_name) ROS_PACKAGE_NAME, "Initializing service for service name '%s'", service_name);
if (service->impl) { if (service->impl) {
RCL_SET_ERROR_MSG("service already initialized, or memory was unintialized", *allocator); RCL_SET_ERROR_MSG("service already initialized, or memory was unintialized", *allocator);
return RCL_RET_ALREADY_INIT; return RCL_RET_ALREADY_INIT;
@ -90,7 +90,7 @@ rcl_service_init(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini string_map (%d) during error handling: %s", "failed to fini string_map (%d) during error handling: %s",
rcutils_ret, rcutils_ret,
rcutils_get_error_string_safe()) rcutils_get_error_string_safe());
} }
if (ret == RCL_RET_BAD_ALLOC) { if (ret == RCL_RET_BAD_ALLOC) {
return ret; return ret;
@ -121,7 +121,7 @@ rcl_service_init(
} }
goto cleanup; goto cleanup;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name) RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name);
const rcl_node_options_t * node_options = rcl_node_get_options(node); const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (NULL == node_options) { if (NULL == node_options) {
@ -165,7 +165,7 @@ rcl_service_init(
RCUTILS_LOG_WARN_NAMED( RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"Warning: Setting QoS durability to 'transient local' for service servers " "Warning: Setting QoS durability to 'transient local' for service servers "
"can cause them to receive requests from clients that have since terminated.") "can cause them to receive requests from clients that have since terminated.");
} }
// Fill out implementation struct. // Fill out implementation struct.
// rmw handle (create rmw service) // rmw handle (create rmw service)
@ -181,7 +181,7 @@ rcl_service_init(
} }
// options // options
service->impl->options = *options; service->impl->options = *options;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized");
ret = RCL_RET_OK; ret = RCL_RET_OK;
goto cleanup; goto cleanup;
fail: fail:
@ -203,7 +203,7 @@ cleanup:
rcl_ret_t rcl_ret_t
rcl_service_fini(rcl_service_t * service, rcl_node_t * node) rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing service") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing service");
rcl_ret_t result = RCL_RET_OK; rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@ -223,7 +223,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
} }
allocator.deallocate(service->impl, allocator.state); allocator.deallocate(service->impl, allocator.state);
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service finalized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service finalized");
return result; return result;
} }
@ -276,7 +276,7 @@ rcl_take_request(
rmw_request_id_t * request_header, rmw_request_id_t * request_header,
void * ros_request) void * ros_request)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service server taking service request") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service server taking service request");
const rcl_service_options_t * options = rcl_service_get_options(service); const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG( RCL_CHECK_FOR_NULL_WITH_MSG(
options, "Failed to get service options", return RCL_RET_ERROR, rcl_get_default_allocator()); options, "Failed to get service options", return RCL_RET_ERROR, rcl_get_default_allocator());
@ -291,7 +291,7 @@ rcl_take_request(
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Service take request succeeded: %s", taken ? "true" : "false") ROS_PACKAGE_NAME, "Service take request succeeded: %s", taken ? "true" : "false");
if (!taken) { if (!taken) {
return RCL_RET_SERVICE_TAKE_FAILED; return RCL_RET_SERVICE_TAKE_FAILED;
} }
@ -304,7 +304,7 @@ rcl_send_response(
rmw_request_id_t * request_header, rmw_request_id_t * request_header,
void * ros_response) void * ros_response)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending service response") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending service response");
const rcl_service_options_t * options = rcl_service_get_options(service); const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG( RCL_CHECK_FOR_NULL_WITH_MSG(
options, "Failed to get service options", return RCL_RET_ERROR, rcl_get_default_allocator()); options, "Failed to get service options", return RCL_RET_ERROR, rcl_get_default_allocator());

14
rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
View file

@ -209,7 +209,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_compare_exchange_strong") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_compare_exchange_strong"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \
@ -238,7 +238,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_exchange_strong") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_exchange_strong"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \
@ -264,7 +264,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_add") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_add"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \
@ -290,7 +290,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_and") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_and"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \
@ -316,7 +316,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_or") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_or"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \
@ -345,7 +345,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_xor") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_xor"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \
@ -371,7 +371,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
break; \ break; \
default: \ default: \
RCUTILS_LOG_ERROR_NAMED( \ RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_load") \ ROS_PACKAGE_NAME, "Unsupported integer type in atomic_load"); \
exit(-1); \ exit(-1); \
break; \ break; \
} \ } \

20
rcl/src/rcl/subscription.c
View file

@ -65,7 +65,7 @@ rcl_subscription_init(
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator); RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing subscription for topic name '%s'", topic_name) ROS_PACKAGE_NAME, "Initializing subscription for topic name '%s'", topic_name);
if (subscription->impl) { if (subscription->impl) {
RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninitialized", *allocator); RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninitialized", *allocator);
return RCL_RET_ALREADY_INIT; return RCL_RET_ALREADY_INIT;
@ -89,7 +89,7 @@ rcl_subscription_init(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"failed to fini string_map (%d) during error handling: %s", "failed to fini string_map (%d) during error handling: %s",
rcutils_ret, rcutils_ret,
rcutils_get_error_string_safe()) rcutils_get_error_string_safe());
} }
if (ret == RCL_RET_BAD_ALLOC) { if (ret == RCL_RET_BAD_ALLOC) {
return ret; return ret;
@ -119,7 +119,7 @@ rcl_subscription_init(
} }
goto cleanup; goto cleanup;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name) RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name);
const rcl_node_options_t * node_options = rcl_node_get_options(node); const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (NULL == node_options) { if (NULL == node_options) {
@ -174,7 +174,7 @@ rcl_subscription_init(
} }
// options // options
subscription->impl->options = *options; subscription->impl->options = *options;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized");
ret = RCL_RET_OK; ret = RCL_RET_OK;
goto cleanup; goto cleanup;
fail: fail:
@ -196,7 +196,7 @@ cleanup:
rcl_ret_t rcl_ret_t
rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node) rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing subscription") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing subscription");
rcl_ret_t result = RCL_RET_OK; rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@ -217,7 +217,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
} }
allocator.deallocate(subscription->impl, allocator.state); allocator.deallocate(subscription->impl, allocator.state);
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized");
return result; return result;
} }
@ -240,7 +240,7 @@ rcl_take(
void * ros_message, void * ros_message,
rmw_message_info_t * message_info) rmw_message_info_t * message_info)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking message") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking message");
rcl_allocator_t error_allocator = rcl_get_default_allocator(); rcl_allocator_t error_allocator = rcl_get_default_allocator();
if (!rcl_subscription_is_valid(subscription, &error_allocator)) { if (!rcl_subscription_is_valid(subscription, &error_allocator)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
@ -259,7 +259,7 @@ rcl_take(
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Subscription take succeeded: %s", taken ? "true" : "false") ROS_PACKAGE_NAME, "Subscription take succeeded: %s", taken ? "true" : "false");
if (!taken) { if (!taken) {
return RCL_RET_SUBSCRIPTION_TAKE_FAILED; return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
} }
@ -272,7 +272,7 @@ rcl_take_serialized_message(
rcl_serialized_message_t * serialized_message, rcl_serialized_message_t * serialized_message,
rmw_message_info_t * message_info) rmw_message_info_t * message_info)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking serialized message") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking serialized message");
rcl_allocator_t error_allocator = rcl_get_default_allocator(); rcl_allocator_t error_allocator = rcl_get_default_allocator();
if (!rcl_subscription_is_valid(subscription, &error_allocator)) { if (!rcl_subscription_is_valid(subscription, &error_allocator)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
@ -294,7 +294,7 @@ rcl_take_serialized_message(
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Subscription serialized take succeeded: %s", taken ? "true" : "false") ROS_PACKAGE_NAME, "Subscription serialized take succeeded: %s", taken ? "true" : "false");
if (!taken) { if (!taken) {
return RCL_RET_SUBSCRIPTION_TAKE_FAILED; return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
} }

13
rcl/src/rcl/timer.c
View file

@ -134,7 +134,8 @@ rcl_timer_init(
RCL_SET_ERROR_MSG("timer period must be non-negative", allocator); RCL_SET_ERROR_MSG("timer period must be non-negative", allocator);
return RCL_RET_INVALID_ARGUMENT; return RCL_RET_INVALID_ARGUMENT;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Initializing timer with period: %" PRIu64 "ns", period) RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing timer with period: %" PRIu64 "ns", period);
if (timer->impl) { if (timer->impl) {
RCL_SET_ERROR_MSG("timer already initailized, or memory was uninitialized", allocator); RCL_SET_ERROR_MSG("timer already initailized, or memory was uninitialized", allocator);
return RCL_RET_ALREADY_INIT; return RCL_RET_ALREADY_INIT;
@ -231,7 +232,7 @@ rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock)
rcl_ret_t rcl_ret_t
rcl_timer_call(rcl_timer_t * timer) rcl_timer_call(rcl_timer_t * timer)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Calling timer") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Calling timer");
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer); const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer);
if (!allocator) { if (!allocator) {
@ -366,7 +367,7 @@ rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t
*old_period = rcl_atomic_exchange_uint64_t(&timer->impl->period, new_period); *old_period = rcl_atomic_exchange_uint64_t(&timer->impl->period, new_period);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Updated timer period from '%" PRIu64 "ns' to '%" PRIu64 "ns'", ROS_PACKAGE_NAME, "Updated timer period from '%" PRIu64 "ns' to '%" PRIu64 "ns'",
*old_period, new_period) *old_period, new_period);
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -382,7 +383,7 @@ rcl_timer_get_callback(const rcl_timer_t * timer)
rcl_timer_callback_t rcl_timer_callback_t
rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_callback) rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_callback)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Updating timer callback") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Updating timer callback");
RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL, rcl_get_default_allocator());
RCL_CHECK_FOR_NULL_WITH_MSG( RCL_CHECK_FOR_NULL_WITH_MSG(
timer->impl, "timer is invalid", return NULL, rcl_get_default_allocator()); timer->impl, "timer is invalid", return NULL, rcl_get_default_allocator());
@ -397,7 +398,7 @@ rcl_timer_cancel(rcl_timer_t * timer)
RCL_CHECK_FOR_NULL_WITH_MSG( RCL_CHECK_FOR_NULL_WITH_MSG(
timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID, rcl_get_default_allocator()); timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID, rcl_get_default_allocator());
rcl_atomic_store(&timer->impl->canceled, true); rcl_atomic_store(&timer->impl->canceled, true);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer canceled") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer canceled");
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -428,7 +429,7 @@ rcl_timer_reset(rcl_timer_t * timer)
int64_t period = rcl_atomic_load_uint64_t(&timer->impl->period); int64_t period = rcl_atomic_load_uint64_t(&timer->impl->period);
rcl_atomic_store(&timer->impl->next_call_time, now + period); rcl_atomic_store(&timer->impl->next_call_time, now + period);
rcl_atomic_store(&timer->impl->canceled, false); rcl_atomic_store(&timer->impl->canceled, false);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer successfully reset") RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer successfully reset");
return RCL_RET_OK; return RCL_RET_OK;
} }

18
rcl/src/rcl/wait.c
View file

@ -104,7 +104,7 @@ rcl_wait_set_init(
ROS_PACKAGE_NAME, "Initializing wait set with " ROS_PACKAGE_NAME, "Initializing wait set with "
"'%zu' subscriptions, '%zu' guard conditions, '%zu' timers, '%zu' clients, '%zu' services", "'%zu' subscriptions, '%zu' guard conditions, '%zu' timers, '%zu' clients, '%zu' services",
number_of_subscriptions, number_of_guard_conditions, number_of_timers, number_of_clients, number_of_subscriptions, number_of_guard_conditions, number_of_timers, number_of_clients,
number_of_services) number_of_services);
rcl_ret_t fail_ret = RCL_RET_ERROR; rcl_ret_t fail_ret = RCL_RET_ERROR;
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
@ -534,14 +534,14 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
timeout_argument = &temporary_timeout_storage; timeout_argument = &temporary_timeout_storage;
} }
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED( RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
!timeout_argument, ROS_PACKAGE_NAME, "Waiting without timeout") !timeout_argument, ROS_PACKAGE_NAME, "Waiting without timeout");
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED( RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
timeout_argument, ROS_PACKAGE_NAME, timeout_argument, ROS_PACKAGE_NAME,
"Waiting with timeout: %" PRIu64 "s + %" PRIu64 "ns", "Waiting with timeout: %" PRIu64 "s + %" PRIu64 "ns",
temporary_timeout_storage.sec, temporary_timeout_storage.nsec) temporary_timeout_storage.sec, temporary_timeout_storage.nsec);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Timeout calculated based on next scheduled timer: %s", ROS_PACKAGE_NAME, "Timeout calculated based on next scheduled timer: %s",
is_timer_timeout ? "true" : "false") is_timer_timeout ? "true" : "false");
// Wait. // Wait.
rmw_ret_t ret = rmw_wait( rmw_ret_t ret = rmw_wait(
@ -567,7 +567,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set. return ret; // The rcl error state should already be set.
} }
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Timer in wait set is ready") RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Timer in wait set is ready");
if (!is_ready) { if (!is_ready) {
wait_set->timers[i] = NULL; wait_set->timers[i] = NULL;
} }
@ -581,7 +581,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
for (i = 0; i < wait_set->size_of_subscriptions; ++i) { for (i = 0; i < wait_set->size_of_subscriptions; ++i) {
bool is_ready = wait_set->impl->rmw_subscriptions.subscribers[i] != NULL; bool is_ready = wait_set->impl->rmw_subscriptions.subscribers[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED( RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
is_ready, ROS_PACKAGE_NAME, "Subscription in wait set is ready") is_ready, ROS_PACKAGE_NAME, "Subscription in wait set is ready");
if (!is_ready) { if (!is_ready) {
wait_set->subscriptions[i] = NULL; wait_set->subscriptions[i] = NULL;
} }
@ -590,7 +590,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
for (i = 0; i < wait_set->size_of_guard_conditions; ++i) { for (i = 0; i < wait_set->size_of_guard_conditions; ++i) {
bool is_ready = wait_set->impl->rmw_guard_conditions.guard_conditions[i] != NULL; bool is_ready = wait_set->impl->rmw_guard_conditions.guard_conditions[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED( RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
is_ready, ROS_PACKAGE_NAME, "Guard condition in wait set is ready") is_ready, ROS_PACKAGE_NAME, "Guard condition in wait set is ready");
if (!is_ready) { if (!is_ready) {
wait_set->guard_conditions[i] = NULL; wait_set->guard_conditions[i] = NULL;
} }
@ -598,7 +598,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
// Set corresponding rcl client handles NULL. // Set corresponding rcl client handles NULL.
for (i = 0; i < wait_set->size_of_clients; ++i) { for (i = 0; i < wait_set->size_of_clients; ++i) {
bool is_ready = wait_set->impl->rmw_clients.clients[i] != NULL; bool is_ready = wait_set->impl->rmw_clients.clients[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Client in wait set is ready") RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Client in wait set is ready");
if (!is_ready) { if (!is_ready) {
wait_set->clients[i] = NULL; wait_set->clients[i] = NULL;
} }
@ -606,7 +606,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
// Set corresponding rcl service handles NULL. // Set corresponding rcl service handles NULL.
for (i = 0; i < wait_set->size_of_services; ++i) { for (i = 0; i < wait_set->size_of_services; ++i) {
bool is_ready = wait_set->impl->rmw_services.services[i] != NULL; bool is_ready = wait_set->impl->rmw_services.services[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Service in wait set is ready") RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Service in wait set is ready");
if (!is_ready) { if (!is_ready) {
wait_set->services[i] = NULL; wait_set->services[i] = NULL;
} }

32
rcl/test/rcl/client_fixture.cpp
View file

@ -43,7 +43,7 @@ wait_for_server_to_be_available(
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"Error in rcl_service_server_is_available: %s", "Error in rcl_service_server_is_available: %s",
rcl_get_error_string_safe()) rcl_get_error_string_safe());
return false; return false;
} }
if (is_ready) { if (is_ready) {
@ -64,13 +64,13 @@ wait_for_client_to_be_ready(
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, rcl_get_default_allocator()); rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, rcl_get_default_allocator());
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe());
return false; return false;
} }
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) { if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe());
throw std::runtime_error("error while waiting for client"); throw std::runtime_error("error while waiting for client");
} }
}); });
@ -79,12 +79,12 @@ wait_for_client_to_be_ready(
++iteration; ++iteration;
if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) { if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string_safe());
return false; return false;
} }
if (rcl_wait_set_add_client(&wait_set, client) != RCL_RET_OK) { if (rcl_wait_set_add_client(&wait_set, client) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_add_client: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait_set_add_client: %s", rcl_get_error_string_safe());
return false; return false;
} }
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms)); ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
@ -92,7 +92,7 @@ wait_for_client_to_be_ready(
continue; continue;
} }
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string_safe()) RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string_safe());
return false; return false;
} }
for (size_t i = 0; i < wait_set.size_of_clients; ++i) { for (size_t i = 0; i < wait_set.size_of_clients; ++i) {
@ -110,7 +110,7 @@ int main(int argc, char ** argv)
{ {
if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) { if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
@ -118,13 +118,13 @@ int main(int argc, char ** argv)
rcl_node_options_t node_options = rcl_node_get_default_options(); rcl_node_options_t node_options = rcl_node_get_default_options();
if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) { if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
if (rcl_node_fini(&node) != RCL_RET_OK) { if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe());
main_ret = -1; main_ret = -1;
} }
}); });
@ -138,21 +138,21 @@ int main(int argc, char ** argv)
rcl_ret_t ret = rcl_client_init(&client, &node, ts, service_name, &client_options); rcl_ret_t ret = rcl_client_init(&client, &node, ts, service_name, &client_options);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in client init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in client init: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
if (rcl_client_fini(&client, &node)) { if (rcl_client_fini(&client, &node)) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in client fini: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in client fini: %s", rcl_get_error_string_safe());
main_ret = -1; main_ret = -1;
} }
}); });
// Wait until server is available // Wait until server is available
if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) { if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Server never became available") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Server never became available");
return -1; return -1;
} }
@ -168,12 +168,12 @@ int main(int argc, char ** argv)
if (rcl_send_request(&client, &client_request, &sequence_number)) { if (rcl_send_request(&client, &client_request, &sequence_number)) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in send request: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in send request: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
if (sequence_number != 1) { if (sequence_number != 1) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Got invalid sequence number") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Got invalid sequence number");
return -1; return -1;
} }
@ -187,13 +187,13 @@ int main(int argc, char ** argv)
test_msgs__srv__Primitives_Response__init(&client_response); test_msgs__srv__Primitives_Response__init(&client_response);
if (!wait_for_client_to_be_ready(&client, 1000, 100)) { if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready");
return -1; return -1;
} }
rmw_request_id_t header; rmw_request_id_t header;
if (rcl_take_response(&client, &header, &client_response) != RCL_RET_OK) { if (rcl_take_response(&client, &header, &client_response) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in send response: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in send response: %s", rcl_get_error_string_safe());
return -1; return -1;
} }

26
rcl/test/rcl/service_fixture.cpp
View file

@ -37,13 +37,13 @@ wait_for_service_to_be_ready(
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator()); rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe());
return false; return false;
} }
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) { if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe());
throw std::runtime_error("error waiting for service to be ready"); throw std::runtime_error("error waiting for service to be ready");
} }
}); });
@ -52,12 +52,12 @@ wait_for_service_to_be_ready(
++iteration; ++iteration;
if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) { if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string_safe());
return false; return false;
} }
if (rcl_wait_set_add_service(&wait_set, service) != RCL_RET_OK) { if (rcl_wait_set_add_service(&wait_set, service) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_add_service: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in wait_set_add_service: %s", rcl_get_error_string_safe());
return false; return false;
} }
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms)); ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
@ -65,7 +65,7 @@ wait_for_service_to_be_ready(
continue; continue;
} }
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string_safe()) RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string_safe());
return false; return false;
} }
for (size_t i = 0; i < wait_set.size_of_services; ++i) { for (size_t i = 0; i < wait_set.size_of_services; ++i) {
@ -83,7 +83,7 @@ int main(int argc, char ** argv)
{ {
if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) { if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
@ -91,13 +91,13 @@ int main(int argc, char ** argv)
rcl_node_options_t node_options = rcl_node_get_default_options(); rcl_node_options_t node_options = rcl_node_get_default_options();
if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) { if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
if (rcl_node_fini(&node) != RCL_RET_OK) { if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe());
main_ret = -1; main_ret = -1;
} }
}); });
@ -111,14 +111,14 @@ int main(int argc, char ** argv)
rcl_ret_t ret = rcl_service_init(&service, &node, ts, service_name, &service_options); rcl_ret_t ret = rcl_service_init(&service, &node, ts, service_name, &service_options);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in service init: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in service init: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
if (rcl_service_fini(&service, &node)) { if (rcl_service_fini(&service, &node)) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in service fini: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in service fini: %s", rcl_get_error_string_safe());
main_ret = -1; main_ret = -1;
} }
}); });
@ -136,7 +136,7 @@ int main(int argc, char ** argv)
// Block until a client request comes in. // Block until a client request comes in.
if (!wait_for_service_to_be_ready(&service, 1000, 100)) { if (!wait_for_service_to_be_ready(&service, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Service never became ready") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Service never became ready");
return -1; return -1;
} }
@ -153,7 +153,7 @@ int main(int argc, char ** argv)
// TODO(jacquelinekay) May have to check for timeout error codes // TODO(jacquelinekay) May have to check for timeout error codes
if (rcl_take_request(&service, &header, &service_request) != RCL_RET_OK) { if (rcl_take_request(&service, &header, &service_request) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in take_request: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in take_request: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
@ -161,7 +161,7 @@ int main(int argc, char ** argv)
service_response.uint64_value = service_request.uint8_value + service_request.uint32_value; service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) { if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in send_response: %s", rcl_get_error_string_safe()) ROS_PACKAGE_NAME, "Error in send_response: %s", rcl_get_error_string_safe());
return -1; return -1;
} }
// Our scope exits should take care of fini for everything // Our scope exits should take care of fini for everything

18
rcl/test/rcl/test_graph.cpp
View file

@ -232,7 +232,7 @@ check_graph_state(
expected_publisher_count, expected_publisher_count,
expected_subscriber_count, expected_subscriber_count,
expected_in_tnat ? "" : " not" expected_in_tnat ? "" : " not"
) );
size_t publisher_count = 0; size_t publisher_count = 0;
size_t subscriber_count = 0; size_t subscriber_count = 0;
bool is_in_tnat = false; bool is_in_tnat = false;
@ -271,13 +271,13 @@ check_graph_state(
publisher_count, publisher_count,
subscriber_count, subscriber_count,
is_in_tnat ? "" : " not" is_in_tnat ? "" : " not"
) );
if ( if (
expected_publisher_count == publisher_count && expected_publisher_count == publisher_count &&
expected_subscriber_count == subscriber_count && expected_subscriber_count == subscriber_count &&
expected_in_tnat == is_in_tnat) expected_in_tnat == is_in_tnat)
{ {
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, " state correct!") RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, " state correct!");
break; break;
} }
// Wait for graph change before trying again. // Wait for graph change before trying again.
@ -292,13 +292,13 @@ check_graph_state(
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200); std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ", " state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str()) std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(wait_set_ptr, time_to_sleep.count()); ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) { if (ret == RCL_RET_TIMEOUT) {
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "timeout") RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "timeout");
continue; continue;
} }
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "change occurred") RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "change occurred");
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
} }
EXPECT_EQ(expected_publisher_count, publisher_count); EXPECT_EQ(expected_publisher_count, publisher_count);
@ -316,7 +316,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
std::string topic_name("/test_graph_query_functions__"); std::string topic_name("/test_graph_query_functions__");
std::chrono::nanoseconds now = std::chrono::system_clock::now().time_since_epoch(); std::chrono::nanoseconds now = std::chrono::system_clock::now().time_since_epoch();
topic_name += std::to_string(now.count()); topic_name += std::to_string(now.count());
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "Using topic name: %s", topic_name.c_str()) RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "Using topic name: %s", topic_name.c_str());
rcl_ret_t ret; rcl_ret_t ret;
const rcl_guard_condition_t * graph_guard_condition = const rcl_guard_condition_t * graph_guard_condition =
rcl_node_get_graph_guard_condition(this->node_ptr); rcl_node_get_graph_guard_condition(this->node_ptr);
@ -451,7 +451,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200); std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes", "waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str()) std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count()); ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) { if (ret == RCL_RET_TIMEOUT) {
continue; continue;
@ -508,7 +508,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes", "waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str()) std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count()); ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) { if (ret == RCL_RET_TIMEOUT) {
if (!is_connext) { if (!is_connext) {

2
rcl/test/rcl/test_wait.cpp
View file

@ -313,7 +313,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
ss << "[thread " << test_set.thread_id << "] Timeout (try #" << wake_try_count << ss << "[thread " << test_set.thread_id << "] Timeout (try #" << wake_try_count <<
")"; ")";
// TODO(mikaelarguedas) replace this with stream logging once they exist // TODO(mikaelarguedas) replace this with stream logging once they exist
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "%s", ss.str().c_str()) RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "%s", ss.str().c_str());
} }
} }
if (!change_detected) { if (!change_detected) {

10
rcl_lifecycle/src/com_interface.c
View file

@ -145,20 +145,20 @@ rcl_lifecycle_com_interface_init(
fail: fail:
if (RCL_RET_OK != rcl_publisher_fini(&com_interface->pub_transition_event, node_handle)) { if (RCL_RET_OK != rcl_publisher_fini(&com_interface->pub_transition_event, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher");
} }
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_change_state, node_handle)) { if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_change_state, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service");
} }
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_state, node_handle)) { if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_state, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service");
} }
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_states, node_handle)) { if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_states, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service") RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service");
} }
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_transitions, node_handle)) { if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_transitions, node_handle)) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service") ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service");
} }
return RCL_RET_ERROR; return RCL_RET_ERROR;

10
rcl_lifecycle/src/rcl_lifecycle.c
View file

@ -297,7 +297,7 @@ rcl_lifecycle_is_valid_transition(
RCUTILS_LOG_WARN_NAMED( RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"No callback transition matching %d found for current state %s", "No callback transition matching %d found for current state %s",
key, state_machine->current_state->label) key, state_machine->current_state->label);
return NULL; return NULL;
} }
@ -315,14 +315,14 @@ rcl_lifecycle_trigger_transition(
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"No transition found for node %s with key %d", "No transition found for node %s with key %d",
state_machine->current_state->label, key) state_machine->current_state->label, key);
RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator()); RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator());
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
if (!transition->goal) { if (!transition->goal) {
RCUTILS_LOG_ERROR_NAMED( RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "No valid goal is set") ROS_PACKAGE_NAME, "No valid goal is set");
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
state_machine->current_state = transition->goal; state_machine->current_state = transition->goal;
@ -349,14 +349,14 @@ rcl_print_state_machine(const rcl_lifecycle_state_machine_t * state_machine)
"Primary State: %s(%u)\n# of valid transitions: %u", "Primary State: %s(%u)\n# of valid transitions: %u",
map->states[i].label, map->states[i].id, map->states[i].label, map->states[i].id,
map->states[i].valid_transition_size map->states[i].valid_transition_size
) );
for (size_t j = 0; j < map->states[i].valid_transition_size; ++j) { for (size_t j = 0; j < map->states[i].valid_transition_size; ++j) {
RCUTILS_LOG_INFO_NAMED( RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME, ROS_PACKAGE_NAME,
"\tNode %s: Key %d: Transition: %s", "\tNode %s: Key %d: Transition: %s",
map->states[i].label, map->states[i].label,
map->states[i].valid_transition_keys[j], map->states[i].valid_transition_keys[j],
map->states[i].valid_transitions[j].label) map->states[i].valid_transitions[j].label);
} }
} }
} }

2
rcl_lifecycle/test/test_default_state_machine.cpp
View file

@ -229,7 +229,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE || *it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;} *it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it) RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it);
EXPECT_EQ( EXPECT_EQ(
RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false)); RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error(); rcl_reset_error();