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Merge pull request #148 from ros2/check_node_validity

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ensure node is valid before using it
This commit is contained in:
Dirk Thomas 2017-06-27 12:04:38 -07:00 • committed by GitHub
commit 7eecba9d7d
4 changed files with 20 additions and 6 deletions
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7
rcl/src/rcl/client.c
View file

@ -173,8 +173,11 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * 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 (client->impl) { if (client->impl) {
rcl_allocator_t allocator = client->impl->options.allocator; rcl_allocator_t allocator = client->impl->options.allocator;
rmw_ret_t ret = rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);
rmw_destroy_client(rcl_node_get_rmw_handle(node), client->impl->rmw_handle); if (!rmw_node) {
return RCL_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_destroy_client(rmw_node, client->impl->rmw_handle);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator); RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator);
result = RCL_RET_ERROR; result = RCL_RET_ERROR;

6
rcl/src/rcl/publisher.c
View file

@ -170,8 +170,12 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * 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 (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);
if (!rmw_node) {
return RCL_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_ret_t ret =
rmw_destroy_publisher(rcl_node_get_rmw_handle(node), publisher->impl->rmw_handle); rmw_destroy_publisher(rmw_node, publisher->impl->rmw_handle);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator); RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator);
result = RCL_RET_ERROR; result = RCL_RET_ERROR;

7
rcl/src/rcl/service.c
View file

@ -174,8 +174,11 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * 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 (service->impl) { if (service->impl) {
rcl_allocator_t allocator = service->impl->options.allocator; rcl_allocator_t allocator = service->impl->options.allocator;
rmw_ret_t ret = rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);
rmw_destroy_service(rcl_node_get_rmw_handle(node), service->impl->rmw_handle); if (!rmw_node) {
return RCL_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_destroy_service(rmw_node, service->impl->rmw_handle);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator); RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator);
result = RCL_RET_ERROR; result = RCL_RET_ERROR;

6
rcl/src/rcl/subscription.c
View file

@ -165,8 +165,12 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * 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 (subscription->impl) { if (subscription->impl) {
rcl_allocator_t allocator = subscription->impl->options.allocator; rcl_allocator_t allocator = subscription->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);
if (!rmw_node) {
return RCL_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_ret_t ret =
rmw_destroy_subscription(rcl_node_get_rmw_handle(node), subscription->impl->rmw_handle); rmw_destroy_subscription(rmw_node, subscription->impl->rmw_handle);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator); RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), allocator);
result = RCL_RET_ERROR; result = RCL_RET_ERROR;