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Improve error checking and handling in subscription APIs. (#739)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-08-12 14:04:18 -03:00 • committed by Alejandro Hernández Cordero
parent a270de6825
commit 7cc97f48f3
1 changed files with 7 additions and 4 deletions
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11
rcl/src/rcl/subscription.c
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@ -203,6 +203,7 @@ fail:
} }
allocator->deallocate(subscription->impl, allocator->state); allocator->deallocate(subscription->impl, allocator->state);
subscription->impl = NULL;
} }
ret = fail_ret; ret = fail_ret;
// Fall through to cleanup // Fall through to cleanup
@ -238,6 +239,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
result = RCL_RET_ERROR; result = RCL_RET_ERROR;
} }
allocator.deallocate(subscription->impl, allocator.state); allocator.deallocate(subscription->impl, allocator.state);
subscription->impl = NULL;
} }
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized"); RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized");
return result; return result;
@ -301,10 +303,6 @@ rcl_take_sequence(
rmw_subscription_allocation_t * allocation rmw_subscription_allocation_t * allocation
) )
{ {
// Set the sizes to zero to indicate that there are no valid messages
message_sequence->size = 0u;
message_info_sequence->size = 0u;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking %zu messages", count); RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking %zu messages", count);
if (!rcl_subscription_is_valid(subscription)) { if (!rcl_subscription_is_valid(subscription)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
@ -322,6 +320,10 @@ rcl_take_sequence(
return RCL_RET_INVALID_ARGUMENT; return RCL_RET_INVALID_ARGUMENT;
} }
// Set the sizes to zero to indicate that there are no valid messages
message_sequence->size = 0u;
message_info_sequence->size = 0u;
size_t taken = 0u; size_t taken = 0u;
rmw_ret_t ret = rmw_take_sequence( rmw_ret_t ret = rmw_take_sequence(
subscription->impl->rmw_handle, count, message_sequence, message_info_sequence, &taken, subscription->impl->rmw_handle, count, message_sequence, message_info_sequence, &taken,
@ -385,6 +387,7 @@ rcl_take_loaned_message(
if (!rcl_subscription_is_valid(subscription)) { if (!rcl_subscription_is_valid(subscription)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error already set return RCL_RET_SUBSCRIPTION_INVALID; // error already set
} }
RCL_CHECK_ARGUMENT_FOR_NULL(loaned_message, RCL_RET_INVALID_ARGUMENT);
if (*loaned_message) { if (*loaned_message) {
RCL_SET_ERROR_MSG("loaned message is already initialized"); RCL_SET_ERROR_MSG("loaned message is already initialized");
return RCL_RET_INVALID_ARGUMENT; return RCL_RET_INVALID_ARGUMENT;