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use throw_from_rcl_error() for error state cleanup (#376)

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William Woodall 2017-09-19 14:13:28 -07:00 • committed by GitHub
parent ca5fb57126
commit 5813ba54db
1 changed files with 3 additions and 4 deletions
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7
rclcpp/src/rclcpp/executor.cpp
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@ -20,6 +20,7 @@
#include "rcl/allocator.h" #include "rcl/allocator.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/executor.hpp" #include "rclcpp/executor.hpp"
#include "rclcpp/node.hpp" #include "rclcpp/node.hpp"
#include "rclcpp/scope_exit.hpp" #include "rclcpp/scope_exit.hpp"
@ -418,10 +419,8 @@ 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) {
std::string msg = "rcl_wait() failed: "; using rclcpp::exceptions::throw_from_rcl_error;
msg += rcl_get_error_string_safe(); throw_from_rcl_error(status, "rcl_wait() failed");
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