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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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23
rcl_lifecycle/src/rcl_lifecycle.c
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@ -41,6 +41,10 @@ rcl_lifecycle_get_zero_initialized_state_machine()
state_machine.transition_map.transitions = NULL;
state_machine.transition_map.transitions_size = 0;
state_machine.com_interface = rcl_lifecycle_get_zero_initialized_com_interface();
state_machine.allocator.allocate = NULL;
state_machine.allocator.deallocate = NULL;
state_machine.allocator.reallocate = NULL;
state_machine.allocator.state = NULL;
return state_machine;
}
@ -65,8 +69,19 @@ rcl_lifecycle_state_machine_init(
}
if (default_states) {
rcl_lifecycle_init_default_state_machine(state_machine);
rcl_ret_t ret = rcl_lifecycle_init_default_state_machine(state_machine);
if (ret != RCL_RET_OK) {
// error should already be set
return ret;
}
}
const rcl_node_options_t * node_options = rcl_node_get_options(node_handle);
if (!node_options) {
RCL_SET_ERROR_MSG("node does not have valid options", rcl_get_default_allocator());
return RCL_RET_NODE_INVALID;
}
state_machine->allocator = node_options->allocator;
return RCL_RET_OK;
}
@ -100,11 +115,11 @@ 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_SET_ERROR_MSG("get_state service is null", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!state_machine->com_interface.srv_change_state.impl) {
RCL_SET_ERROR_MSG("change_state service is null");
RCL_SET_ERROR_MSG("change_state service is null", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
return RCL_RET_OK;
@ -141,7 +156,7 @@ rcl_lifecycle_trigger_transition(
if (!transition) {
fprintf(stderr, "No transition found for node %s with key %d\n",
state_machine->current_state->label, key);
RCL_SET_ERROR_MSG("Transition is not registered.");
RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator());
return RCL_RET_ERROR;
}