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move allocator and error handling to c utilities (#122)

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* moved allocator to c_utilities

* moved error_handling to c_utilities

* refactor uses of RCL_SET_ERROR_MSG with allocator

* add missing guard condition functions and tests

* add missing timer functions

* refactor rcl_lifecycyle

* missed an instance of RCL_SET_ERROR_MSG

* fix segfaults in error cases for rcl_lifecycle

* remove extra header

* check return code of rcl_lifecycle_init_default_state_machine
This commit is contained in:
William Woodall 2017-04-19 12:37:48 -07:00 • committed by GitHub
parent 415612f8af
commit 90176d9f1a
33 changed files with 872 additions and 618 deletions
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28
rcl_lifecycle/src/com_interface.c
View file

@ -67,24 +67,32 @@ rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions)
{
if (!node_handle) {
RCL_SET_ERROR_MSG("node_handle is null", rcl_get_default_allocator());
return RCL_RET_INVALID_ARGUMENT;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node_handle);
if (!node_options) {
return RCL_RET_NODE_INVALID;
}
if (!ts_pub_notify) {
RCL_SET_ERROR_MSG("ts_pub_notify is NULL");
RCL_SET_ERROR_MSG("ts_pub_notify is NULL", node_options->allocator);
return RCL_RET_ERROR;
}
if (!ts_srv_change_state) {
RCL_SET_ERROR_MSG("ts_srv_change_state is NULL");
RCL_SET_ERROR_MSG("ts_srv_change_state is NULL", node_options->allocator);
return RCL_RET_ERROR;
}
if (!ts_srv_get_state) {
RCL_SET_ERROR_MSG("ts_srv_get_state is NULL");
RCL_SET_ERROR_MSG("ts_srv_get_state is NULL", node_options->allocator);
return RCL_RET_ERROR;
}
if (!ts_srv_get_available_states) {
RCL_SET_ERROR_MSG("ts_srv_get_available_states is NULL");
RCL_SET_ERROR_MSG("ts_srv_get_available_states is NULL", node_options->allocator);
return RCL_RET_ERROR;
}
if (!ts_srv_get_available_states) {
RCL_SET_ERROR_MSG("ts_srv_get_available_transitions is NULL");
RCL_SET_ERROR_MSG("ts_srv_get_available_transitions is NULL", node_options->allocator);
return RCL_RET_ERROR;
}
@ -97,7 +105,7 @@ rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,
const char * topic_prefix = "__transition_event";
char * topic_name;
if (!concatenate(&node_name, &topic_prefix, &topic_name)) {
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255");
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255", node_options->allocator);
goto fail;
}
@ -122,7 +130,7 @@ rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,
const char * topic_prefix = "__change_state";
char * topic_name;
if (!concatenate(&node_name, &topic_prefix, &topic_name)) {
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255");
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255", node_options->allocator);
goto fail;
}
@ -144,7 +152,7 @@ rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,
const char * topic_prefix = "__get_state";
char * topic_name;
if (!concatenate(&node_name, &topic_prefix, &topic_name)) {
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255");
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255", node_options->allocator);
goto fail;
}
@ -166,7 +174,7 @@ rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,
const char * topic_prefix = "__get_available_states";
char * topic_name;
if (!concatenate(&node_name, &topic_prefix, &topic_name)) {
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255");
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255", node_options->allocator);
goto fail;
}
@ -188,7 +196,7 @@ rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,
const char * topic_prefix = "__get_available_transitions";
char * topic_name;
if (!concatenate(&node_name, &topic_prefix, &topic_name)) {
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255");
RCL_SET_ERROR_MSG("Topic name exceeds maximum size of 255", node_options->allocator);
goto fail;
}