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incorporating changes from #53

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This commit is contained in:
William Woodall 2015-07-14 19:34:28 -07:00
parent 9df50f5355
commit edc1886173
4 changed files with 34 additions and 12 deletions
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8
rclcpp/include/rclcpp/client.hpp
View file

@ -146,8 +146,12 @@ public:
CallbackType cb)
{
int64_t sequence_number;
// TODO(wjwwood): Check the return code.
rmw_send_request(get_client_handle(), request.get(), &sequence_number);
if (RMW_RET_OK != rmw_send_request(get_client_handle(), request.get(), &sequence_number)) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to send request: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
SharedPromise call_promise = std::make_shared<Promise>();
SharedFuture f(call_promise->get_future());

22
rclcpp/include/rclcpp/executor.hpp
View file

@ -162,8 +162,9 @@ protected:
subscription->handle_message(message);
}
} else {
std::cout << "[rclcpp::error] take failed for subscription on topic: " <<
subscription->get_topic_name() << std::endl;
fprintf(stderr,
"[rclcpp::error] take failed for subscription on topic '%s': %s\n",
subscription->get_topic_name().c_str(), rmw_get_error_string_safe());
}
}
@ -191,8 +192,9 @@ protected:
service->handle_request(request_header, request);
}
} else {
std::cout << "[rclcpp::error] take failed for service on service: " <<
service->get_service_name() << std::endl;
fprintf(stderr,
"[rclcpp::error] take request failed for server of service '%s': %s\n",
service->get_service_name().c_str(), rmw_get_error_string_safe());
}
}
@ -203,15 +205,19 @@ protected:
std::shared_ptr<void> request_header = client->create_request_header();
std::shared_ptr<void> response = client->create_response();
bool taken = false;
rmw_take_response(
rmw_ret_t status = rmw_take_response(
client->client_handle_,
request_header.get(),
response.get(),
&taken);
if (taken) {
client->handle_response(request_header, response);
if (status == RMW_RET_OK) {
if (taken) {
client->handle_response(request_header, response);
}
} else {
std::cout << "[rclcpp::error] take failed for service on client" << std::endl;
fprintf(stderr,
"[rclcpp::error] take response failed for client of service '%s': %s\n",
client->get_service_name().c_str(), rmw_get_error_string_safe());
}
}

8
rclcpp/include/rclcpp/publisher.hpp
View file

@ -63,7 +63,13 @@ public:
void
publish(std::shared_ptr<MessageT> & msg)
{
rmw_publish(publisher_handle_, msg.get());
rmw_ret_t status = rmw_publish(publisher_handle_, msg.get());
if (status != RMW_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to publish message: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
}
private:

8
rclcpp/include/rclcpp/service.hpp
View file

@ -154,7 +154,13 @@ public:
std::shared_ptr<rmw_request_id_t> & req_id,
std::shared_ptr<typename ServiceT::Response> & response)
{
rmw_send_response(get_service_handle(), req_id.get(), response.get());
rmw_ret_t status = rmw_send_response(get_service_handle(), req_id.get(), response.get());
if (status != RMW_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to send response: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
}
private: