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expand rcl_node_is_valid with allocator to standarize the node check … (#173)

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* expand rcl_node_is_valid with allocator to standarize the node check across RCL

Current RCL use very different way for node check in different components. Actually,
node.c already provide a standard way - rcl_node_is_valid. However, it just use
internal allocator, but some context has external allocator. The commit expand
rcl_node_is_valid with one more parameter for allocator. It can be used in all cases.

Signed-off-by: jwang <jing.j.wang@intel.com>

* Add allocator check in rcl_node_is_valid

* Separate argument checks from the concept of what makes a node invalid

* clarify allocator only used for error messages; default if NULL

* shorten parameter description
This commit is contained in:
jwang11 2017-11-15 18:42:07 -08:00 • committed by Mikael Arguedas
parent 0ff5b98c3e
commit ddc172a7e6
12 changed files with 62 additions and 40 deletions
Download patch file Download diff file Expand all files Collapse all files

1
rcl/include/rcl/client.h
View file

@ -177,6 +177,7 @@ rcl_client_init(
* \param[in] node handle to the node used to create the client
* \return `RCL_RET_OK` if client was finalized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

13
rcl/include/rcl/node.h
View file

@ -203,7 +203,11 @@ rcl_node_get_default_options(void);
/// Return `true` if the node is valid, else `false`.
/**
* Also return `false` if the node pointer is `NULL`.
* Also return `false` if the node pointer is `NULL` or the allocator is invalid.
*
* The allocator needs to either be a valid allocator or `NULL`, in which case
* the default allocator will be used.
* The allocator is used when allocation is needed for an error message.
*
* A node is invalid if:
* - the implementation is `NULL` (rcl_node_init not called or failed)
@ -215,7 +219,7 @@ rcl_node_get_default_options(void);
* Consider:
*
* ```c
* assert(rcl_node_is_valid(node)); // <-- thread 1
* assert(rcl_node_is_valid(node, NULL)); // <-- thread 1
* rcl_shutdown(); // <-- thread 2
* // use node as if valid // <-- thread 1
* ```
@ -234,11 +238,12 @@ rcl_node_get_default_options(void);
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
*
* \param[in] node rcl_node_t to be validated
* \return `true` if the node is valid, otherwise `false`.
* \param[in] allocator a valid allocator or `NULL`
* \return `true` if the node and allocator are valid, otherwise `false`.
*/
RCL_PUBLIC
bool
rcl_node_is_valid(const rcl_node_t * node);
rcl_node_is_valid(const rcl_node_t * node, const rcl_allocator_t * allocator);
/// Return the name of the node.
/**

1
rcl/include/rcl/publisher.h
View file

@ -171,6 +171,7 @@ rcl_publisher_init(
* \param[in] node handle to the node used to create the publisher
* \return `RCL_RET_OK` if publisher was finalized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

2
rcl/include/rcl/service.h
View file

@ -138,6 +138,7 @@ rcl_get_zero_initialized_service(void);
* \param[in] options service options, including quality of service settings
* \return `RCL_RET_OK` if service was initialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_SERVICE_NAME_INVALID` if the given service name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
@ -174,6 +175,7 @@ rcl_service_init(
* \param[in] node handle to the node used to create the service
* \return `RCL_RET_OK` if service was deinitialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

2
rcl/include/rcl/subscription.h
View file

@ -140,6 +140,7 @@ rcl_get_zero_initialized_subscription(void);
* \param[in] options subscription options, including quality of service settings
* \return `RCL_RET_OK` if subscription was initialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_TOPIC_NAME_INVALID` if the given topic name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
@ -176,6 +177,7 @@ rcl_subscription_init(
* \param[in] node handle to the node used to create the subscription
* \return `RCL_RET_OK` if subscription was deinitialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

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

@ -62,8 +62,7 @@ rcl_client_init(
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
if (!node->impl) {
RCL_SET_ERROR_MSG("invalid node", *allocator);
if (!rcl_node_is_valid(node, allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
@ -167,6 +166,9 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
if (client->impl) {
rcl_allocator_t allocator = client->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);

14
rcl/src/rcl/graph.c
View file

@ -37,8 +37,8 @@ rcl_get_topic_names_and_types(
rcl_names_and_types_t * topic_names_and_types)
{
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator())
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator)
if (!rcl_node_is_valid(node)) {
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
if (!rcl_node_is_valid(node, allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT, *allocator)
@ -64,7 +64,7 @@ rcl_get_service_names_and_types(
rcl_names_and_types_t * service_names_and_types)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT, *allocator);
@ -98,7 +98,7 @@ rcl_get_node_names(
rcutils_string_array_t * node_names)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, allocator);
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, &allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(node_names, RCL_RET_INVALID_ARGUMENT, allocator);
@ -123,7 +123,7 @@ rcl_count_publishers(
size_t * count)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
@ -143,7 +143,7 @@ rcl_count_subscribers(
size_t * count)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
@ -163,7 +163,7 @@ rcl_service_server_is_available(
bool * is_available)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);

27
rcl/src/rcl/node.c
View file

@ -280,10 +280,9 @@ rcl_node_init(
node->impl->rcl_instance_id = rcl_get_instance_id();
// graph guard condition
rmw_graph_guard_condition = rmw_node_get_graph_guard_condition(node->impl->rmw_node_handle);
if (!rmw_graph_guard_condition) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
goto fail;
}
RCL_CHECK_FOR_NULL_WITH_MSG(
rmw_graph_guard_condition, rmw_get_error_string_safe(), goto fail, *allocator);
node->impl->graph_guard_condition = (rcl_guard_condition_t *)allocator->allocate(
sizeof(rcl_guard_condition_t), allocator->state);
RCL_CHECK_FOR_NULL_WITH_MSG(
@ -363,14 +362,16 @@ rcl_node_fini(rcl_node_t * node)
}
bool
rcl_node_is_valid(const rcl_node_t * node)
rcl_node_is_valid(const rcl_node_t * node, const rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, false, rcl_get_default_allocator());
rcl_allocator_t alloc = allocator ? *allocator : rcl_get_default_allocator();
RCL_CHECK_ALLOCATOR_WITH_MSG(&alloc, "invalid allocator", return false);
RCL_CHECK_ARGUMENT_FOR_NULL(node, false, alloc);
RCL_CHECK_FOR_NULL_WITH_MSG(
node->impl, "rcl node implementation is invalid", return false, rcl_get_default_allocator());
node->impl, "rcl node implementation is invalid", return false, alloc);
if (node->impl->rcl_instance_id != rcl_get_instance_id()) {
RCL_SET_ERROR_MSG(
"rcl node is invalid, rcl instance id does not match", rcl_get_default_allocator());
"rcl node is invalid, rcl instance id does not match", alloc);
return false;
}
return true;
@ -391,7 +392,7 @@ rcl_node_get_default_options()
const char *
rcl_node_get_name(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return NULL;
}
return node->impl->rmw_node_handle->name;
@ -400,7 +401,7 @@ rcl_node_get_name(const rcl_node_t * node)
const char *
rcl_node_get_namespace(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return NULL;
}
return node->impl->rmw_node_handle->namespace_;
@ -409,7 +410,7 @@ rcl_node_get_namespace(const rcl_node_t * node)
const rcl_node_options_t *
rcl_node_get_options(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return NULL;
}
return &node->impl->options;
@ -431,7 +432,7 @@ rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id)
rmw_node_t *
rcl_node_get_rmw_handle(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return NULL;
}
return node->impl->rmw_node_handle;
@ -449,7 +450,7 @@ rcl_node_get_rcl_instance_id(const rcl_node_t * node)
const struct rcl_guard_condition_t *
rcl_node_get_graph_guard_condition(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid(node, NULL)) {
return NULL;
}
return node->impl->graph_guard_condition;

14
rcl/src/rcl/publisher.c
View file

@ -61,12 +61,11 @@ rcl_publisher_init(
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_INVALID_ARGUMENT, *allocator);
if (publisher->impl) {
RCL_SET_ERROR_MSG(
"publisher already initialized, or memory was unintialized", rcl_get_default_allocator());
"publisher already initialized, or memory was unintialized", *allocator);
return RCL_RET_ALREADY_INIT;
}
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
if (!node->impl) {
RCL_SET_ERROR_MSG("invalid node", *allocator);
if (!rcl_node_is_valid(node, allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
@ -145,10 +144,8 @@ rcl_publisher_init(
expanded_topic_name,
&(options->qos));
allocator->deallocate(expanded_topic_name, allocator->state);
if (!publisher->impl->rmw_handle) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
goto fail;
}
RCL_CHECK_FOR_NULL_WITH_MSG(publisher->impl->rmw_handle,
rmw_get_error_string_safe(), goto fail, *allocator);
// options
publisher->impl->options = *options;
return RCL_RET_OK;
@ -165,6 +162,9 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
if (publisher->impl) {
rcl_allocator_t allocator = publisher->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);

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

@ -59,8 +59,7 @@ rcl_service_init(
RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
if (!node->impl) {
RCL_SET_ERROR_MSG("invalid node", *allocator);
if (!rcl_node_is_valid(node, allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
@ -170,6 +169,9 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
if (service->impl) {
rcl_allocator_t allocator = service->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);

8
rcl/src/rcl/subscription.c
View file

@ -55,9 +55,12 @@ rcl_subscription_init(
RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
const rcl_allocator_t * allocator = &options->allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
if (!rcl_node_is_valid(node, allocator)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator);
if (subscription->impl) {
@ -159,6 +162,9 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
rcl_ret_t result = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!rcl_node_is_valid(node, NULL)) {
return RCL_RET_NODE_INVALID;
}
if (subscription->impl) {
rcl_allocator_t allocator = subscription->impl->options.allocator;
rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);

8
rcl/test/rcl/test_node.cpp
View file

@ -118,16 +118,16 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
});
// Test rcl_node_is_valid().
bool is_valid;
is_valid = rcl_node_is_valid(nullptr);
is_valid = rcl_node_is_valid(nullptr, nullptr);
EXPECT_FALSE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&zero_node);
is_valid = rcl_node_is_valid(&zero_node, nullptr);
EXPECT_FALSE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&invalid_node);
is_valid = rcl_node_is_valid(&invalid_node, nullptr);
EXPECT_FALSE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&node);
is_valid = rcl_node_is_valid(&node, nullptr);
EXPECT_TRUE(is_valid);
rcl_reset_error();
// Test rcl_node_get_name().