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Merge pull request #57 from ros2/more_checks

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check return value of remaining rmw function calls
This commit is contained in:
Dirk Thomas 2015-07-16 22:25:03 -07:00
commit bdafa54d8b
1 changed files with 16 additions and 4 deletions
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20
rclcpp/include/rclcpp/executor.hpp
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@ -72,7 +72,10 @@ public:
} }
weak_nodes_.push_back(node_ptr); weak_nodes_.push_back(node_ptr);
// Interrupt waiting to handle new node // Interrupt waiting to handle new node
rmw_trigger_guard_condition(interrupt_guard_condition_); rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
} }
virtual void virtual void
@ -90,7 +93,10 @@ public:
})); }));
// If the node was matched and removed, interrupt waiting // If the node was matched and removed, interrupt waiting
if (node_removed) { if (node_removed) {
rmw_trigger_guard_condition(interrupt_guard_condition_); rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
} }
} }
@ -148,7 +154,10 @@ protected:
any_exec->callback_group->can_be_taken_from_.store(true); any_exec->callback_group->can_be_taken_from_.store(true);
// Wake the wait, because it may need to be recalculated or work that // Wake the wait, because it may need to be recalculated or work that
// was previously blocked is now available. // was previously blocked is now available.
rmw_trigger_guard_condition(interrupt_guard_condition_); rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
} }
static void static void
@ -351,12 +360,15 @@ protected:
} }
// Now wait on the waitable subscriptions and timers // Now wait on the waitable subscriptions and timers
rmw_wait( rmw_ret_t status = rmw_wait(
&subscriber_handles, &subscriber_handles,
&guard_condition_handles, &guard_condition_handles,
&service_handles, &service_handles,
&client_handles, &client_handles,
nonblocking); nonblocking);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
// If ctrl-c guard condition, return directly // If ctrl-c guard condition, return directly
if (guard_condition_handles.guard_conditions[0] != 0) { if (guard_condition_handles.guard_conditions[0] != 0) {
// Make sure to free or clean memory // Make sure to free or clean memory