niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

[rcl] Remove redundant error checking and set explicit error message with '_is_valid' functions

Browse source
This commit is contained in:
Jacob Perron 2018-11-05 14:21:07 -08:00
parent b2578bbbda
commit 48c168a5ca
14 changed files with 75 additions and 110 deletions
Download patch file Download diff file Expand all files Collapse all files

2
rcl/include/rcl/node.h
View file

@ -191,7 +191,7 @@ rcl_node_init(
*
* \param[in] node rcl_node_t to be finalized
* \return `RCL_RET_OK` if node was finalized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node pointer is null, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

1
rcl/include/rcl/publisher.h
View file

@ -172,6 +172,7 @@ rcl_publisher_init(
* \param[in] node handle to the node used to create the publisher
* \return `RCL_RET_OK` if publisher was finalized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_PUBLISHER_INVALID` if the publisher is invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/

1
rcl/include/rcl/service.h
View file

@ -176,6 +176,7 @@ rcl_service_init(
* \param[in] node handle to the node used to create the service
* \return `RCL_RET_OK` if service was deinitialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_SERVICE_INVALID` if the service is invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/

1
rcl/include/rcl/subscription.h
View file

@ -177,6 +177,7 @@ rcl_subscription_init(
* \param[in] node handle to the node used to create the subscription
* \return `RCL_RET_OK` if subscription was deinitialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_SUBSCRIPTION_INVALID` if the subscription is invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/

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

@ -62,9 +62,8 @@ rcl_client_init(
rcl_allocator_t * allocator = (rcl_allocator_t *)&options->allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT);
@ -198,13 +197,11 @@ cleanup:
rcl_ret_t
rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
{
(void)node;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing client");
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
if (client->impl) {
rcl_allocator_t allocator = client->impl->options.allocator;
@ -268,11 +265,10 @@ rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client sending service request");
if (!rcl_client_is_valid(client)) {
return RCL_RET_CLIENT_INVALID;
return RCL_RET_CLIENT_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_request, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(
sequence_number, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT);
*sequence_number = rcl_atomic_load_int64_t(&client->impl->sequence_number);
if (rmw_send_request(
client->impl->rmw_handle, ros_request, sequence_number) != RMW_RET_OK)
@ -292,7 +288,7 @@ rcl_take_response(
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client taking service response");
if (!rcl_client_is_valid(client)) {
return RCL_RET_CLIENT_INVALID;
return RCL_RET_CLIENT_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT);
@ -316,13 +312,9 @@ rcl_take_response(
bool
rcl_client_is_valid(const rcl_client_t * client)
{
const rcl_client_options_t * options;
RCL_CHECK_ARGUMENT_FOR_NULL(client, false);
RCL_CHECK_FOR_NULL_WITH_MSG(client, "client pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
client->impl, "client's rmw implementation is invalid", return false);
options = _client_get_options(client);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "client's options pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
client->impl->rmw_handle, "client's rmw handle is invalid", return false);
return true;

23
rcl/src/rcl/graph.c
View file

@ -36,11 +36,10 @@ rcl_get_topic_names_and_types(
bool no_demangle,
rcl_names_and_types_t * topic_names_and_types)
{
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret;
rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
@ -63,9 +62,8 @@ rcl_get_service_names_and_types(
rcl_allocator_t * allocator,
rcl_names_and_types_t * service_names_and_types)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret;
@ -97,9 +95,8 @@ rcl_get_node_names(
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(node_names, RCL_RET_INVALID_ARGUMENT);
if (node_names->size != 0) {
@ -133,10 +130,6 @@ rcl_count_publishers(
const char * topic_name,
size_t * count)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so
@ -153,10 +146,6 @@ rcl_count_subscribers(
const char * topic_name,
size_t * count)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so
@ -173,10 +162,6 @@ rcl_service_server_is_available(
const rcl_client_t * client,
bool * is_available)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so

24
rcl/src/rcl/node.c
View file

@ -411,7 +411,7 @@ rcl_ret_t
rcl_node_fini(rcl_node_t * node)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing node");
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_NODE_INVALID);
if (!node->impl) {
// Repeat calls to fini or calling fini on a zero initialized node is ok.
return RCL_RET_OK;
@ -446,9 +446,8 @@ rcl_node_fini(rcl_node_t * node)
bool
rcl_node_is_valid(const rcl_node_t * node)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, false);
RCL_CHECK_FOR_NULL_WITH_MSG(
node->impl, "rcl node implementation is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(node, "rcl node pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(node->impl, "rcl node implementation is invalid", return false);
if (node->impl->rcl_instance_id != rcl_get_instance_id()) {
RCL_SET_ERROR_MSG("rcl node is invalid, rcl instance id does not match");
return false;
@ -497,7 +496,7 @@ const char *
rcl_node_get_name(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return NULL;
return NULL; // error already set
}
return node->impl->rmw_node_handle->name;
}
@ -506,7 +505,7 @@ const char *
rcl_node_get_namespace(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return NULL;
return NULL; // error already set
}
return node->impl->rmw_node_handle->namespace_;
}
@ -515,7 +514,7 @@ const rcl_node_options_t *
rcl_node_get_options(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return NULL;
return NULL; // error already set
}
return &node->impl->options;
}
@ -523,10 +522,9 @@ rcl_node_get_options(const rcl_node_t * node)
rcl_ret_t
rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(domain_id, RCL_RET_INVALID_ARGUMENT);
*domain_id = node->impl->actual_domain_id;
@ -537,7 +535,7 @@ rmw_node_t *
rcl_node_get_rmw_handle(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return NULL;
return NULL; // error already set
}
return node->impl->rmw_node_handle;
}
@ -545,6 +543,8 @@ rcl_node_get_rmw_handle(const rcl_node_t * node)
uint64_t
rcl_node_get_rcl_instance_id(const rcl_node_t * node)
{
// Not using rcl_node_is_valid() since we can still get the
// instance ID from an initialized node, even if it is invalid
RCL_CHECK_ARGUMENT_FOR_NULL(node, 0);
RCL_CHECK_FOR_NULL_WITH_MSG(node->impl, "node implementation is invalid", return 0);
return node->impl->rcl_instance_id;
@ -554,7 +554,7 @@ const struct rcl_guard_condition_t *
rcl_node_get_graph_guard_condition(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return NULL;
return NULL; // error already set
}
return node->impl->graph_guard_condition;
}
@ -563,7 +563,7 @@ const char *
rcl_node_get_logger_name(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return NULL;
return NULL; // error already set
}
return node->impl->logger_name;
}

27
rcl/src/rcl/publisher.c
View file

@ -64,9 +64,8 @@ rcl_publisher_init(
RCL_SET_ERROR_MSG("publisher already initialized, or memory was unintialized");
return RCL_RET_ALREADY_INIT;
}
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT);
@ -194,11 +193,11 @@ rcl_ret_t
rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
{
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_PUBLISHER_INVALID);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing publisher");
if (publisher->impl) {
rcl_allocator_t allocator = publisher->impl->options.allocator;
@ -234,8 +233,9 @@ rcl_publish(const rcl_publisher_t * publisher, const void * ros_message)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher publishing message");
if (!rcl_publisher_is_valid(publisher)) {
return RCL_RET_PUBLISHER_INVALID;
return RCL_RET_PUBLISHER_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT);
if (rmw_publish(publisher->impl->rmw_handle, ros_message) != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
return RCL_RET_ERROR;
@ -248,8 +248,9 @@ rcl_publish_serialized_message(
const rcl_publisher_t * publisher, const rcl_serialized_message_t * serialized_message)
{
if (!rcl_publisher_is_valid(publisher)) {
return RCL_RET_PUBLISHER_INVALID;
return RCL_RET_PUBLISHER_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(serialized_message, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t ret = rmw_publish_serialized_message(publisher->impl->rmw_handle, serialized_message);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
@ -265,7 +266,7 @@ const char *
rcl_publisher_get_topic_name(const rcl_publisher_t * publisher)
{
if (!rcl_publisher_is_valid(publisher)) {
return NULL;
return NULL; // error already set
}
return publisher->impl->rmw_handle->topic_name;
}
@ -276,7 +277,7 @@ const rcl_publisher_options_t *
rcl_publisher_get_options(const rcl_publisher_t * publisher)
{
if (!rcl_publisher_is_valid(publisher)) {
return NULL;
return NULL; // error already set
}
return _publisher_get_options(publisher);
}
@ -285,7 +286,7 @@ rmw_publisher_t *
rcl_publisher_get_rmw_handle(const rcl_publisher_t * publisher)
{
if (!rcl_publisher_is_valid(publisher)) {
return NULL;
return NULL; // error already set
}
return publisher->impl->rmw_handle;
}
@ -293,13 +294,9 @@ rcl_publisher_get_rmw_handle(const rcl_publisher_t * publisher)
bool
rcl_publisher_is_valid(const rcl_publisher_t * publisher)
{
const rcl_publisher_options_t * options;
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, false);
RCL_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
publisher->impl, "publisher implementation is invalid", return false);
options = _publisher_get_options(publisher);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "publisher's options pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
publisher->impl->rmw_handle, "publisher's rmw handle is invalid", return false);
return true;

37
rcl/src/rcl/service.c
View file

@ -59,9 +59,8 @@ rcl_service_init(
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT);
@ -204,12 +203,12 @@ rcl_ret_t
rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing service");
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_SERVICE_INVALID);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
rcl_ret_t result = RCL_RET_OK;
if (service->impl) {
rcl_allocator_t allocator = service->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);
@ -255,7 +254,7 @@ const rcl_service_options_t *
rcl_service_get_options(const rcl_service_t * service)
{
if (!rcl_service_is_valid(service)) {
return NULL;
return NULL; // error already set
}
return _service_get_options(service);
}
@ -264,7 +263,7 @@ rmw_service_t *
rcl_service_get_rmw_handle(const rcl_service_t * service)
{
if (!rcl_service_is_valid(service)) {
return NULL;
return NULL; // error already set
}
return service->impl->rmw_handle;
}
@ -276,11 +275,13 @@ rcl_take_request(
void * ros_request)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service server taking service request");
const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "Failed to get service options", return RCL_RET_ERROR);
if (!rcl_service_is_valid(service)) {
return RCL_RET_SERVICE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_request, RCL_RET_INVALID_ARGUMENT);
const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(options, "Failed to get service options", return RCL_RET_ERROR);
bool taken = false;
if (rmw_take_request(
@ -304,11 +305,13 @@ rcl_send_response(
void * ros_response)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending service response");
const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "Failed to get service options", return RCL_RET_ERROR);
if (!rcl_service_is_valid(service)) {
return RCL_RET_SERVICE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_response, RCL_RET_INVALID_ARGUMENT);
const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(options, "Failed to get service options", return RCL_RET_ERROR);
if (rmw_send_response(
service->impl->rmw_handle, request_header, ros_response) != RMW_RET_OK)
@ -322,13 +325,9 @@ rcl_send_response(
bool
rcl_service_is_valid(const rcl_service_t * service)
{
const rcl_service_options_t * options;
RCL_CHECK_ARGUMENT_FOR_NULL(service, false);
RCL_CHECK_FOR_NULL_WITH_MSG(service, "service pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
service->impl, "service's implementation is invalid", return false);
options = _service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "service's options pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
service->impl->rmw_handle, "service's rmw handle is invalid", return false);
return true;

35
rcl/src/rcl/subscription.c
View file

@ -57,11 +57,9 @@ rcl_subscription_init(
rcl_allocator_t * allocator = (rcl_allocator_t *)&options->allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT);
RCUTILS_LOG_DEBUG_NAMED(
@ -197,10 +195,9 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing subscription");
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_SUBSCRIPTION_INVALID);
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
return RCL_RET_NODE_INVALID; // error already set
}
if (subscription->impl) {
rcl_allocator_t allocator = subscription->impl->options.allocator;
@ -243,8 +240,8 @@ rcl_take(
if (!rcl_subscription_is_valid(subscription)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(
ros_message, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT);
// If message_info is NULL, use a place holder which can be discarded.
rmw_message_info_t dummy_message_info;
rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
@ -272,7 +269,7 @@ rcl_take_serialized_message(
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking serialized message");
if (!rcl_subscription_is_valid(subscription)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
return RCL_RET_SUBSCRIPTION_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(serialized_message, RCL_RET_INVALID_ARGUMENT);
// If message_info is NULL, use a place holder which can be discarded.
@ -301,7 +298,7 @@ const char *
rcl_subscription_get_topic_name(const rcl_subscription_t * subscription)
{
if (!rcl_subscription_is_valid(subscription)) {
return NULL;
return NULL; // error already set
}
return subscription->impl->rmw_handle->topic_name;
}
@ -312,7 +309,7 @@ const rcl_subscription_options_t *
rcl_subscription_get_options(const rcl_subscription_t * subscription)
{
if (!rcl_subscription_is_valid(subscription)) {
return NULL;
return NULL; // error already set
}
return _subscription_get_options(subscription);
}
@ -321,7 +318,7 @@ rmw_subscription_t *
rcl_subscription_get_rmw_handle(const rcl_subscription_t * subscription)
{
if (!rcl_subscription_is_valid(subscription)) {
return NULL;
return NULL; // error already set
}
return subscription->impl->rmw_handle;
}
@ -329,19 +326,11 @@ rcl_subscription_get_rmw_handle(const rcl_subscription_t * subscription)
bool
rcl_subscription_is_valid(const rcl_subscription_t * subscription)
{
const rcl_subscription_options_t * options;
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, false);
RCL_CHECK_FOR_NULL_WITH_MSG(subscription, "subscription pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
subscription->impl,
"subscription's implementation is invalid",
return false);
options = _subscription_get_options(subscription);
subscription->impl, "subscription's implementation is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "subscription's option pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
subscription->impl->rmw_handle,
"subscription's rmw handle is invalid",
return false);
subscription->impl->rmw_handle, "subscription's rmw handle is invalid", return false);
return true;
}

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

@ -110,7 +110,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
// Try passing null for a node pointer in init.
client = rcl_get_zero_initialized_client();
ret = rcl_client_init(&client, nullptr, ts, topic_name, &default_client_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check if null publisher is valid

6
rcl/test/rcl/test_graph.cpp
View file

@ -115,7 +115,7 @@ TEST_F(
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// invalid node
ret = rcl_get_topic_names_and_types(nullptr, &allocator, false, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_topic_names_and_types(&zero_node, &allocator, false, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
@ -156,7 +156,7 @@ TEST_F(
size_t count;
// invalid node
ret = rcl_count_publishers(nullptr, topic_name, &count);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_count_publishers(&zero_node, topic_name, &count);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
@ -193,7 +193,7 @@ TEST_F(
size_t count;
// invalid node
ret = rcl_count_subscribers(nullptr, topic_name, &count);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_count_subscribers(&zero_node, topic_name, &count);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;

4
rcl/test/rcl/test_node.cpp
View file

@ -221,7 +221,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
// Test rcl_node_get_domain_id().
size_t actual_domain_id;
ret = rcl_node_get_domain_id(nullptr, &actual_domain_id);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_get_domain_id(&zero_node, &actual_domain_id);
@ -347,7 +347,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
// Try fini with invalid arguments.
ret = rcl_node_fini(nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << "Expected RCL_RET_INVALID_ARGUMENT";
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << "Expected RCL_RET_NODE_INVALID";
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Try fini with an uninitialized node.

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

@ -191,7 +191,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
// Try passing null for a node pointer in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, nullptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Try passing an invalid (uninitialized) node in init.