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use new error handling API from rcutils (#314)

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* use new error handling API from rcutils

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

* use semicolons after macros

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

* use new error handling API from rcutils

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

* minimize vertical whitespace

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

* use semicolons after macros

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2018-11-01 21:08:31 -05:00 • committed by GitHub
parent 765de78140
commit 4d8cb487f8
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GPG key ID: 4AEE18F83AFDEB23
64 changed files with 1131 additions and 1314 deletions
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51
rcl_lifecycle/src/rcl_lifecycle.c
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@ -51,19 +51,18 @@ rcl_lifecycle_state_init(
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize state, no allocator given\n",
rcl_get_default_allocator());
RCL_SET_ERROR_MSG("can't initialize state, no allocator given\n");
return RCL_RET_ERROR;
}
if (!state) {
RCL_SET_ERROR_MSG("state pointer is null\n", *allocator);
RCL_SET_ERROR_MSG("state pointer is null\n");
return RCL_RET_ERROR;
}
state->id = id;
state->label = rcutils_strndup(label, strlen(label), *allocator);
if (!state->label) {
RCL_SET_ERROR_MSG("failed to duplicate label for rcl_lifecycle_state_t\n", *allocator);
RCL_SET_ERROR_MSG("failed to duplicate label for rcl_lifecycle_state_t\n");
return RCL_RET_ERROR;
}
@ -76,8 +75,7 @@ rcl_lifecycle_state_fini(
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't free state, no allocator given\n",
rcl_get_default_allocator());
RCL_SET_ERROR_MSG("can't free state, no allocator given\n");
return RCL_RET_ERROR;
}
// it is already NULL
@ -114,13 +112,12 @@ rcl_lifecycle_transition_init(
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize transition, no allocator given\n",
rcl_get_default_allocator());
RCL_SET_ERROR_MSG("can't initialize transition, no allocator given\n");
return RCL_RET_ERROR;
}
if (!transition) {
RCL_SET_ERROR_MSG("transition pointer is null\n", *allocator);
RCL_SET_ERROR_MSG("transition pointer is null\n");
return RCL_RET_OK;
}
@ -130,7 +127,7 @@ rcl_lifecycle_transition_init(
transition->id = id;
transition->label = rcutils_strndup(label, strlen(label), *allocator);
if (!transition->label) {
RCL_SET_ERROR_MSG("failed to duplicate label for rcl_lifecycle_transition_t\n", *allocator);
RCL_SET_ERROR_MSG("failed to duplicate label for rcl_lifecycle_transition_t\n");
return RCL_RET_ERROR;
}
@ -143,8 +140,7 @@ rcl_lifecycle_transition_fini(
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize transition, no allocator given\n",
rcl_get_default_allocator());
RCL_SET_ERROR_MSG("can't initialize transition, no allocator given\n");
return RCL_RET_ERROR;
}
// it is already NULL
@ -197,8 +193,7 @@ rcl_lifecycle_state_machine_init(
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize state machine, no allocator given\n",
rcl_get_default_allocator());
RCL_SET_ERROR_MSG("can't initialize state machine, no allocator given\n");
return RCL_RET_ERROR;
}
@ -206,8 +201,7 @@ rcl_lifecycle_state_machine_init(
&state_machine->com_interface, node_handle,
ts_pub_notify,
ts_srv_change_state, ts_srv_get_state,
ts_srv_get_available_states, ts_srv_get_available_transitions, ts_srv_get_transition_graph,
allocator);
ts_srv_get_available_states, ts_srv_get_available_transitions, ts_srv_get_transition_graph);
if (ret != RCL_RET_OK) {
return RCL_RET_ERROR;
}
@ -235,24 +229,21 @@ rcl_lifecycle_state_machine_fini(
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't free state machine, no allocator given\n",
rcl_get_default_allocator());
RCL_SET_ERROR_MSG("can't free state machine, no allocator given\n");
return RCL_RET_ERROR;
}
rcl_ret_t fcn_ret = RCL_RET_OK;
if (rcl_lifecycle_com_interface_fini(&state_machine->com_interface, node_handle) != RCL_RET_OK) {
RCL_SET_ERROR_MSG(
"could not free lifecycle com interface. Leaking memory!\n", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("could not free lifecycle com interface. Leaking memory!\n");
fcn_ret = RCL_RET_ERROR;
}
if (rcl_lifecycle_transition_map_fini(
&state_machine->transition_map, allocator) != RCL_RET_OK)
{
RCL_SET_ERROR_MSG(
"could not free lifecycle transition map. Leaking memory!\n", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("could not free lifecycle transition map. Leaking memory!\n");
fcn_ret = RCL_RET_ERROR;
}
@ -263,15 +254,15 @@ rcl_ret_t
rcl_lifecycle_state_machine_is_initialized(const rcl_lifecycle_state_machine_t * state_machine)
{
if (!state_machine->com_interface.srv_get_state.impl) {
RCL_SET_ERROR_MSG("get_state service is null", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("get_state service is null");
return RCL_RET_ERROR;
}
if (!state_machine->com_interface.srv_change_state.impl) {
RCL_SET_ERROR_MSG("change_state service is null", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("change_state service is null");
return RCL_RET_ERROR;
}
if (rcl_lifecycle_transition_map_is_initialized(&state_machine->transition_map) != RCL_RET_OK) {
RCL_SET_ERROR_MSG("transition map is null", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("transition map is null");
return RCL_RET_ERROR;
}
return RCL_RET_OK;
@ -282,8 +273,7 @@ rcl_lifecycle_get_transition_by_id(
const rcl_lifecycle_state_t * state,
uint8_t id)
{
RCL_CHECK_FOR_NULL_WITH_MSG(state,
"state pointer is null", return NULL, rcl_get_default_allocator());
RCL_CHECK_FOR_NULL_WITH_MSG(state, "state pointer is null", return NULL);
for (unsigned int i = 0; i < state->valid_transition_size; ++i) {
if (state->valid_transitions[i].id == id) {
@ -304,8 +294,7 @@ rcl_lifecycle_get_transition_by_label(
const rcl_lifecycle_state_t * state,
const char * label)
{
RCL_CHECK_FOR_NULL_WITH_MSG(state,
"state pointer is null", return NULL, rcl_get_default_allocator());
RCL_CHECK_FOR_NULL_WITH_MSG(state, "state pointer is null", return NULL);
for (unsigned int i = 0; i < state->valid_transition_size; ++i) {
if (strcmp(state->valid_transitions[i].label, label) == 0) {
@ -329,7 +318,7 @@ _trigger_transition(
{
// If we have a faulty transition pointer
if (!transition) {
RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("Transition is not registered.");
return RCL_RET_ERROR;
}
@ -344,7 +333,7 @@ _trigger_transition(
rcl_ret_t ret = rcl_lifecycle_com_interface_publish_notification(
&state_machine->com_interface, transition->start, state_machine->current_state);
if (ret != RCL_RET_OK) {
RCL_SET_ERROR_MSG("Could not publish transition", rcl_get_default_allocator());
RCL_SET_ERROR_MSG("Could not publish transition");
return RCL_RET_ERROR;
}
}