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use rcl_allocator for rcl_lifecycle & namespaced topics (#142)

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* use rcl_allocator for rcl_lifecycle

* correct return value interpretation

* fix unsigned comparison

* use namespace for lifecycle in-built topics

* linters
This commit is contained in:
Karsten Knese 2017-06-16 23:44:06 +02:00 • committed by Dirk Thomas
parent 0f2519944a
commit c37bfec072
13 changed files with 612 additions and 193 deletions
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46
rcl_lifecycle/src/com_interface.c
View file

@ -23,7 +23,7 @@ extern "C"
#include <string.h>
#include <rcl/error_handling.h>
#include <rcutils/concat.h>
#include <rcutils/format_string.h>
#include <rmw/validate_full_topic_name.h>
#include <rosidl_generator_c/message_type_support_struct.h>
#include <rosidl_generator_c/string_functions.h>
@ -80,34 +80,31 @@ rcl_lifecycle_com_interface_init(
const rosidl_service_type_support_t * ts_srv_change_state,
const rosidl_service_type_support_t * ts_srv_get_state,
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions)
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
const rcl_allocator_t * allocator)
{
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", node_options->allocator);
RCL_SET_ERROR_MSG("ts_pub_notify is NULL", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!ts_srv_change_state) {
RCL_SET_ERROR_MSG("ts_srv_change_state is NULL", node_options->allocator);
RCL_SET_ERROR_MSG("ts_srv_change_state is NULL", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!ts_srv_get_state) {
RCL_SET_ERROR_MSG("ts_srv_get_state is NULL", node_options->allocator);
RCL_SET_ERROR_MSG("ts_srv_get_state is NULL", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!ts_srv_get_available_states) {
RCL_SET_ERROR_MSG("ts_srv_get_available_states is NULL", node_options->allocator);
RCL_SET_ERROR_MSG("ts_srv_get_available_states is NULL", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!ts_srv_get_available_states) {
RCL_SET_ERROR_MSG("ts_srv_get_available_transitions is NULL", node_options->allocator);
RCL_SET_ERROR_MSG("ts_srv_get_available_transitions is NULL", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
@ -117,7 +114,8 @@ rcl_lifecycle_com_interface_init(
// initialize publisher
{
topic_name = rcutils_concat(node_name, pub_transition_event_suffix, "__");
topic_name = rcutils_format_string(*allocator, "/%s/%s",
node_name, pub_transition_event_suffix);
ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) {
goto fail;
@ -127,7 +125,7 @@ rcl_lifecycle_com_interface_init(
rcl_ret_t ret = rcl_publisher_init(
&com_interface->pub_transition_event, node_handle,
ts_pub_notify, topic_name, &publisher_options);
free(topic_name);
allocator->deallocate(topic_name, allocator->state);
topic_name = NULL;
if (ret != RCL_RET_OK) {
@ -140,7 +138,8 @@ rcl_lifecycle_com_interface_init(
// initialize change state service
{
topic_name = rcutils_concat(node_name, srv_change_state_suffix, "__");
topic_name = rcutils_format_string(*allocator, "/%s/%s",
node_name, srv_change_state_suffix);
ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) {
goto fail;
@ -150,7 +149,7 @@ rcl_lifecycle_com_interface_init(
rcl_ret_t ret = rcl_service_init(
&com_interface->srv_change_state, node_handle,
ts_srv_change_state, topic_name, &service_options);
free(topic_name);
allocator->deallocate(topic_name, allocator->state);
topic_name = NULL;
if (ret != RCL_RET_OK) {
@ -160,7 +159,8 @@ rcl_lifecycle_com_interface_init(
// initialize get state service
{
topic_name = rcutils_concat(node_name, srv_get_state_suffix, "__");
topic_name = rcutils_format_string(*allocator, "/%s/%s",
node_name, srv_get_state_suffix);
ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) {
goto fail;
@ -170,7 +170,7 @@ rcl_lifecycle_com_interface_init(
rcl_ret_t ret = rcl_service_init(
&com_interface->srv_get_state, node_handle,
ts_srv_get_state, topic_name, &service_options);
free(topic_name);
allocator->deallocate(topic_name, allocator->state);
topic_name = NULL;
if (ret != RCL_RET_OK) {
@ -180,7 +180,8 @@ rcl_lifecycle_com_interface_init(
// initialize get available states service
{
topic_name = rcutils_concat(node_name, srv_get_available_states_suffix, "__");
topic_name = rcutils_format_string(*allocator, "/%s/%s",
node_name, srv_get_available_states_suffix);
ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) {
goto fail;
@ -190,7 +191,7 @@ rcl_lifecycle_com_interface_init(
rcl_ret_t ret = rcl_service_init(
&com_interface->srv_get_available_states, node_handle,
ts_srv_get_available_states, topic_name, &service_options);
free(topic_name);
allocator->deallocate(topic_name, allocator->state);
topic_name = NULL;
if (ret != RCL_RET_OK) {
@ -200,7 +201,8 @@ rcl_lifecycle_com_interface_init(
// initialize get available transitions service
{
topic_name = rcutils_concat(node_name, srv_get_available_transitions_suffix, "__");
topic_name = rcutils_format_string(*allocator, "/%s/%s",
node_name, srv_get_available_transitions_suffix);
ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) {
goto fail;
@ -210,7 +212,7 @@ rcl_lifecycle_com_interface_init(
rcl_ret_t ret = rcl_service_init(
&com_interface->srv_get_available_transitions, node_handle,
ts_srv_get_available_transitions, topic_name, &service_options);
free(topic_name);
allocator->deallocate(topic_name, allocator->state);
topic_name = NULL;
if (ret != RCL_RET_OK) {
@ -243,7 +245,7 @@ fail:
}
if (topic_name) {
free(topic_name);
allocator->deallocate(topic_name, allocator->state);
topic_name = NULL;
}