From e6985c0226174b6f478cf4c4ffae2adcf8c41e58 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Mon, 5 Nov 2018 15:06:01 -0800
Subject: [PATCH] [rcl] Return appropriate error code when there is a bad
 allocation

---
 rcl/src/rcl/service.c      | 13 ++++++++-----
 rcl/src/rcl/subscription.c |  9 ++++++---
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 34d131f..9632862 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -76,7 +76,7 @@ rcl_service_init(
   rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
   if (rcutils_ret != RCUTILS_RET_OK) {
     RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
+    if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) {
       return RCL_RET_BAD_ALLOC;
     }
     return RCL_RET_ERROR;
@@ -91,7 +91,7 @@ rcl_service_init(
         rcutils_ret,
         rcutils_get_error_string().str);
     }
-    if (ret == RCL_RET_BAD_ALLOC) {
+    if (RCL_RET_BAD_ALLOC == ret) {
       return ret;
     }
     return RCL_RET_ERROR;
@@ -284,10 +284,13 @@ rcl_take_request(
   RCL_CHECK_FOR_NULL_WITH_MSG(options, "Failed to get service options", return RCL_RET_ERROR);
 
   bool taken = false;
-  if (rmw_take_request(
-      service->impl->rmw_handle, request_header, ros_request, &taken) != RMW_RET_OK)
-  {
+  rmw_ret_t ret = rmw_take_request(
+    service->impl->rmw_handle, request_header, ros_request, &taken);
+  if (RMW_RET_OK != ret) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    if (RMW_RET_BAD_ALLOC == ret) {
+      return RCL_RET_BAD_ALLOC;
+    }
     return RCL_RET_ERROR;
   }
   RCUTILS_LOG_DEBUG_NAMED(
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index fcbe954..4c337d1 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -74,7 +74,7 @@ rcl_subscription_init(
   rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
   if (rcutils_ret != RCUTILS_RET_OK) {
     RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
+    if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) {
       return RCL_RET_BAD_ALLOC;
     }
     return RCL_RET_ERROR;
@@ -89,7 +89,7 @@ rcl_subscription_init(
         rcutils_ret,
         rcutils_get_error_string().str);
     }
-    if (ret == RCL_RET_BAD_ALLOC) {
+    if (RCL_RET_BAD_ALLOC == ret) {
       return ret;
     }
     return RCL_RET_ERROR;
@@ -251,6 +251,9 @@ rcl_take(
     rmw_take_with_info(subscription->impl->rmw_handle, ros_message, &taken, message_info_local);
   if (ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    if (RMW_RET_BAD_ALLOC == ret) {
+      return RCL_RET_BAD_ALLOC;
+    }
     return RCL_RET_ERROR;
   }
   RCUTILS_LOG_DEBUG_NAMED(
@@ -281,7 +284,7 @@ rcl_take_serialized_message(
     subscription->impl->rmw_handle, serialized_message, &taken, message_info_local);
   if (ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    if (ret == RMW_RET_BAD_ALLOC) {
+    if (RMW_RET_BAD_ALLOC == ret) {
       return RCL_RET_BAD_ALLOC;
     }
     return RCL_RET_ERROR;