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Reset rcl errors (#374)

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This commit is contained in:
dhood 2017-09-14 11:03:24 -07:00 • committed by GitHub
parent ed26865b71
commit 4a2e9d8af9
1 changed files with 12 additions and 1 deletions
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13
rclcpp/src/rclcpp/executor.cpp
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@ -60,9 +60,11 @@ Executor::Executor(const ExecutorArgs & args)
{ {
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] failed to create waitset: %s\n", rcl_get_error_string_safe()); "[rclcpp::error] failed to create waitset: %s\n", rcl_get_error_string_safe());
rcl_reset_error();
if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) { if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe()); "[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe());
rcl_reset_error();
} }
throw std::runtime_error("Failed to create waitset in Executor constructor"); throw std::runtime_error("Failed to create waitset in Executor constructor");
} }
@ -74,11 +76,13 @@ Executor::~Executor()
if (rcl_wait_set_fini(&waitset_) != RCL_RET_OK) { if (rcl_wait_set_fini(&waitset_) != RCL_RET_OK) {
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] failed to destroy waitset: %s\n", rcl_get_error_string_safe()); "[rclcpp::error] failed to destroy waitset: %s\n", rcl_get_error_string_safe());
rcl_reset_error();
} }
// Finalize the interrupt guard condition. // Finalize the interrupt guard condition.
if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) { if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe()); "[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe());
rcl_reset_error();
} }
// Remove and release the sigint guard condition // Remove and release the sigint guard condition
memory_strategy_->remove_guard_condition( memory_strategy_->remove_guard_condition(
@ -270,6 +274,7 @@ Executor::execute_subscription(
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] take failed for subscription on topic '%s': %s\n", "[rclcpp::error] take failed for subscription on topic '%s': %s\n",
subscription->get_topic_name(), rcl_get_error_string_safe()); subscription->get_topic_name(), rcl_get_error_string_safe());
rcl_reset_error();
} }
subscription->return_message(message); subscription->return_message(message);
} }
@ -292,6 +297,7 @@ Executor::execute_intra_process_subscription(
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] take failed for intra process subscription on topic '%s': %s\n", "[rclcpp::error] take failed for intra process subscription on topic '%s': %s\n",
subscription->get_topic_name(), rcl_get_error_string_safe()); subscription->get_topic_name(), rcl_get_error_string_safe());
rcl_reset_error();
} }
} }
@ -318,6 +324,7 @@ Executor::execute_service(
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] take request failed for server of service '%s': %s\n", "[rclcpp::error] take request failed for server of service '%s': %s\n",
service->get_service_name().c_str(), rcl_get_error_string_safe()); service->get_service_name().c_str(), rcl_get_error_string_safe());
rcl_reset_error();
} }
} }
@ -337,6 +344,7 @@ Executor::execute_client(
fprintf(stderr, fprintf(stderr,
"[rclcpp::error] take response failed for client of service '%s': %s\n", "[rclcpp::error] take response failed for client of service '%s': %s\n",
client->get_service_name().c_str(), rcl_get_error_string_safe()); client->get_service_name().c_str(), rcl_get_error_string_safe());
rcl_reset_error();
} }
} }
@ -410,7 +418,10 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
if (status == RCL_RET_WAIT_SET_EMPTY) { if (status == RCL_RET_WAIT_SET_EMPTY) {
fprintf(stderr, "Warning: empty waitset received in rcl_wait(). This should never happen.\n"); fprintf(stderr, "Warning: empty waitset received in rcl_wait(). This should never happen.\n");
} else if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT) { } else if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT) {
throw std::runtime_error(std::string("rcl_wait() failed: ") + rcl_get_error_string_safe()); std::string msg = "rcl_wait() failed: ";
msg += rcl_get_error_string_safe();
rcl_reset_error();
throw std::runtime_error(msg);
} }
// check the null handles in the waitset and remove them from the handles in memory strategy // check the null handles in the waitset and remove them from the handles in memory strategy