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Ensure compliant init/shutdown API implementations. (#202)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-06-29 14:14:01 -03:00 • committed by Alejandro Hernández Cordero
parent f7fcf88bb4
commit 7eff1eab55
1 changed files with 39 additions and 15 deletions
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54
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -12,6 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <cassert>
#include <cstring>
#include <mutex>
#include <unordered_map>
#include <unordered_set>
@ -50,6 +52,7 @@
#include "fallthrough_macro.hpp"
#include "Serialization.hpp"
#include "rcpputils/scope_exit.hpp"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/impl/cpp/key_value.hpp"
@ -1117,15 +1120,21 @@ extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t
{
rmw_ret_t ret;
static_cast<void>(options);
static_cast<void>(context);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
options->implementation_identifier,
"expected initialized init options",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
options,
options->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (NULL != context->implementation_identifier) {
RMW_SET_ERROR_MSG("expected a zero-initialized context");
return RMW_RET_INVALID_ARGUMENT;
}
if (options->domain_id >= UINT32_MAX && options->domain_id != RMW_DEFAULT_DOMAIN_ID) {
RCUTILS_LOG_ERROR_NAMED(
@ -1133,52 +1142,67 @@ extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t
return RMW_RET_INVALID_ARGUMENT;
}
const rmw_context_t zero_context = rmw_get_zero_initialized_context();
assert(0 == std::memcmp(context, &zero_context, sizeof(rmw_context_t)));
auto restore_context = rcpputils::make_scope_exit(
[context, &zero_context]() {*context = zero_context;});
context->instance_id = options->instance_id;
context->implementation_identifier = eclipse_cyclonedds_identifier;
context->impl = nullptr;
context->impl = new (std::nothrow) rmw_context_impl_t();
if (nullptr == context->impl) {
RMW_SET_ERROR_MSG("failed to allocate context impl");
return RMW_RET_BAD_ALLOC;
}
auto cleanup_impl = rcpputils::make_scope_exit(
[context]() {delete context->impl;});
if ((ret = rmw_init_options_copy(options, &context->options)) != RMW_RET_OK) {
return ret;
}
rmw_context_impl_t * impl = new(std::nothrow) rmw_context_impl_t();
if (nullptr == impl) {
return RMW_RET_BAD_ALLOC;
}
context->impl = impl;
cleanup_impl.cancel();
restore_context.cancel();
return RMW_RET_OK;
}
extern "C" rmw_ret_t rmw_shutdown(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
context->impl,
"expected initialized context",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
context->impl->is_shutdown = true;
return RMW_RET_OK;
}
extern "C" rmw_ret_t rmw_context_fini(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
context->impl,
"expected initialized context",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
if (!context->impl->is_shutdown) {
RCUTILS_SET_ERROR_MSG("context has not been shutdown");
RMW_SET_ERROR_MSG("context has not been shutdown");
return RMW_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_init_options_fini(&context->options);
delete context->impl;
*context = rmw_get_zero_initialized_context();
return RMW_RET_OK;
return ret;
}
/////////////////////////////////////////////////////////////////////////////////////////