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use string_array_t from c_utilities package (#320)

Browse source 
* use c_utilities package

* compare return value to utilities_ret_ok

* fix error handling

* better error handling
This commit is contained in:
Karsten Knese 2017-04-14 16:18:43 -07:00 • committed by GitHub
parent e6e1848b97
commit 81b8255e61
1 changed files with 22 additions and 16 deletions
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38
rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
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@ -54,10 +54,14 @@ NodeGraph::get_topic_names_and_types() const
auto ret = rcl_get_topic_names_and_types(node_base_->get_rcl_node_handle(),
&topic_names_and_types);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not get topic names and types: ") + rmw_get_error_string_safe());
// *INDENT-ON*
auto error_msg = std::string("failed to get topic names and types: ") +
rcl_get_error_string_safe();
rcl_reset_error();
if (rmw_destroy_topic_names_and_types(&topic_names_and_types) != RMW_RET_OK) {
error_msg += std::string(", failed also to cleanup topic names and types, leaking memory: ") +
rcl_get_error_string_safe();
}
throw std::runtime_error(error_msg + rmw_get_error_string_safe());
}
std::map<std::string, std::string> topics;
@ -79,28 +83,30 @@ NodeGraph::get_topic_names_and_types() const
std::vector<std::string>
NodeGraph::get_node_names() const
{
rcl_string_array_t node_names_c =
rcl_get_zero_initialized_string_array();
utilities_string_array_t node_names_c =
utilities_get_zero_initialized_string_array();
auto ret = rcl_get_node_names(node_base_->get_rcl_node_handle(),
&node_names_c);
if (ret != RMW_RET_OK) {
if (rmw_destroy_node_names(&node_names_c) != RMW_RET_OK) {
RMW_SET_ERROR_MSG("Fatal: Leaking node_name memory.");
if (ret != RCL_RET_OK) {
auto error_msg = std::string("failed to get node names: ") + rcl_get_error_string_safe();
rcl_reset_error();
if (utilities_string_array_fini(&node_names_c) != UTILITIES_RET_OK) {
error_msg += std::string(", failed also to cleanup node names, leaking memory: ") +
rcl_get_error_string_safe();
}
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not get node names: ") + rmw_get_error_string_safe());
// *INDENT-ON*
// TODO(karsten1987): Append utilities_error_message once it's in master
throw std::runtime_error(error_msg);
}
std::vector<std::string> node_names(&node_names_c.data[0],
&node_names_c.data[0 + node_names_c.size]);
ret = rmw_destroy_node_names(&node_names_c);
if (ret != RMW_RET_OK) {
ret = utilities_string_array_fini(&node_names_c);
if (ret != UTILITIES_RET_OK) {
// *INDENT-OFF*
// TODO(karsten1987): Append utilities_error_message once it's in master
throw std::runtime_error(
std::string("could not destroy node names: ") + rmw_get_error_string_safe());
std::string("could not destroy node names: "));
// *INDENT-ON*
}