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Incorporate rmw_waitset

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Jackie Kay 2015-12-18 11:50:20 -08:00 • committed by Jackie Kay
parent 6d25f56568
commit d6ea437dce
1 changed files with 16 additions and 1 deletions
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17
rcl/src/rcl/wait.c
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@ -115,7 +115,10 @@ rcl_wait_set_init(
wait_set->impl->rmw_guard_conditions.guard_conditions = NULL;
wait_set->impl->rmw_guard_conditions.guard_condition_count = 0;
wait_set->impl->rmw_waitset = rmw_create_waitset(
NULL, 2*number_of_subscriptions + number_of_guard_conditions);
NULL, 2 * number_of_subscriptions + number_of_guard_conditions);
if (!wait_set->impl->rmw_waitset) {
goto fail;
}
// Initialize subscription space.
rcl_ret_t ret;
@ -151,6 +154,12 @@ rcl_wait_set_init(
wait_set->impl->allocator = allocator;
return RCL_RET_OK;
fail:
if (__wait_set_is_valid(wait_set)) {
rmw_ret_t ret = rmw_destroy_waitset(wait_set->impl->rmw_waitset);
if (ret != RMW_RET_OK) {
fail_ret = RCL_RET_WAIT_SET_INVALID;
}
}
__wait_set_clean_up(wait_set, allocator);
return fail_ret;
}
@ -160,7 +169,13 @@ rcl_wait_set_fini(rcl_wait_set_t * wait_set)
{
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_INVALID_ARGUMENT);
if (__wait_set_is_valid(wait_set)) {
rmw_ret_t ret = rmw_destroy_waitset(wait_set->impl->rmw_waitset);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
result = RCL_RET_WAIT_SET_INVALID;
}
__wait_set_clean_up(wait_set, wait_set->impl->allocator);
}
return result;