From 675dbac13fce15b74a460706d10c3adab4e42ec9 Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Tue, 27 Oct 2020 18:50:26 -0700 Subject: [PATCH] Return OK when finalizing zero-initialized contexts (#842) Resolves #814 This is consistent behavior with finalizing other types of zero-initialized objects. Signed-off-by: Jacob Perron --- rcl/include/rcl/context.h | 3 ++- rcl/src/rcl/context.c | 6 ++++-- rcl/test/rcl/test_context.cpp | 4 ++++ 3 files changed, 10 insertions(+), 3 deletions(-) diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h index 36dd33d..89995a9 100644 --- a/rcl/include/rcl/context.h +++ b/rcl/include/rcl/context.h @@ -154,8 +154,9 @@ rcl_get_zero_initialized_context(void); /** * The context to be finalized must have been previously initialized with * `rcl_init()`, and then later invalidated with `rcl_shutdown()`. + * A zero-initialized context that has not been initialized can be finalized. * If context is `NULL`, then `RCL_RET_INVALID_ARGUMENT` is returned. - * If context is zero-initialized, then `RCL_RET_INVALID_ARGUMENT` is returned. + * If context is zero-initialized, then `RCL_RET_OK` is returned. * If context is initialized and valid (`rcl_shutdown()` was not called on it), * then `RCL_RET_INVALID_ARGUMENT` is returned. * diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c index 9c7b90c..3eb40b2 100644 --- a/rcl/src/rcl/context.c +++ b/rcl/src/rcl/context.c @@ -49,8 +49,10 @@ rcl_ret_t rcl_context_fini(rcl_context_t * context) { RCL_CHECK_ARGUMENT_FOR_NULL(context, RCL_RET_INVALID_ARGUMENT); - RCL_CHECK_FOR_NULL_WITH_MSG( - context->impl, "context is zero-initialized", return RCL_RET_INVALID_ARGUMENT); + if (!context->impl) { + // Context is zero-initialized + return RCL_RET_OK; + } if (rcl_context_is_valid(context)) { RCL_SET_ERROR_MSG("rcl_shutdown() not called on the given context"); return RCL_RET_INVALID_ARGUMENT; diff --git a/rcl/test/rcl/test_context.cpp b/rcl/test/rcl/test_context.cpp index 05a104d..bfef946 100644 --- a/rcl/test/rcl/test_context.cpp +++ b/rcl/test/rcl/test_context.cpp @@ -142,6 +142,10 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), bad_fini) { }); rcl_context_t context = rcl_get_zero_initialized_context(); + + ret = rcl_context_fini(&context); + EXPECT_EQ(RCL_RET_OK, ret); + ret = rcl_init(0, nullptr, &init_options, &context); EXPECT_EQ(RCL_RET_OK, ret);