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Set error message when clock type is not ROS_TIME (#275)

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dhood 2018-08-03 13:21:26 -07:00 • committed by GitHub
parent 3356bd4cf1
commit e2f7c26123
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 15 additions and 5 deletions
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20
rcl/src/rcl/time.c
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@ -242,7 +242,7 @@ rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_value_t * time_point_value
return clock->get_now(clock->data, time_point_value); return clock->get_now(clock->data, time_point_value);
} }
RCL_SET_ERROR_MSG( RCL_SET_ERROR_MSG(
"clock is not initialized or does not have get_now registered.", "Clock is not initialized or does not have get_now registered.",
rcl_get_default_allocator()); rcl_get_default_allocator());
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
@ -253,12 +253,13 @@ rcl_enable_ros_time_override(rcl_clock_t * clock)
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) { if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG( RCL_SET_ERROR_MSG(
"Time source is not RCL_ROS_TIME cannot enable override.", rcl_get_default_allocator()) "Clock is not of type RCL_ROS_TIME, cannot enable override.", rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
rcl_ros_clock_storage_t * storage = (rcl_ros_clock_storage_t *)clock->data; rcl_ros_clock_storage_t * storage = (rcl_ros_clock_storage_t *)clock->data;
if (!storage) { if (!storage) {
RCL_SET_ERROR_MSG("Storage not initialized, cannot enable.", rcl_get_default_allocator()) RCL_SET_ERROR_MSG("Clock storage is not initialized, cannot enable override.",
rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
storage->active = true; storage->active = true;
@ -270,12 +271,15 @@ rcl_disable_ros_time_override(rcl_clock_t * clock)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) { if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Clock is not of type RCL_ROS_TIME, cannot disable override.", rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
rcl_ros_clock_storage_t * storage = \ rcl_ros_clock_storage_t * storage = \
(rcl_ros_clock_storage_t *)clock->data; (rcl_ros_clock_storage_t *)clock->data;
if (!storage) { if (!storage) {
RCL_SET_ERROR_MSG("Storage not initialized, cannot disable.", rcl_get_default_allocator()) RCL_SET_ERROR_MSG("Clock storage is not initialized, cannot disable override.",
rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
storage->active = false; storage->active = false;
@ -290,12 +294,16 @@ rcl_is_enabled_ros_time_override(
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(is_enabled, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(is_enabled, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) { if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Clock is not of type RCL_ROS_TIME, cannot query override state.",
rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
rcl_ros_clock_storage_t * storage = \ rcl_ros_clock_storage_t * storage = \
(rcl_ros_clock_storage_t *)clock->data; (rcl_ros_clock_storage_t *)clock->data;
if (!storage) { if (!storage) {
RCL_SET_ERROR_MSG("Storage not initialized, cannot query.", rcl_get_default_allocator()) RCL_SET_ERROR_MSG("Clock storage is not initialized, cannot query override state.",
rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
*is_enabled = storage->active; *is_enabled = storage->active;
@ -309,6 +317,8 @@ rcl_set_ros_time_override(
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) { if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Clock is not of type RCL_ROS_TIME, cannot set time override.", rcl_get_default_allocator())
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
rcl_ros_clock_storage_t * storage = \ rcl_ros_clock_storage_t * storage = \