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Updated error returns on rmw_take (#241)

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Signed-off-by: lobotuerk <jtlorente@ekumenlabs.com>
This commit is contained in:
Jose Tomas Lorente 2020-09-18 18:34:24 -03:00 • committed by Alejandro Hernández Cordero
parent c610402b46
commit 966035ade4
1 changed files with 39 additions and 10 deletions
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49
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -2515,10 +2515,22 @@ static rmw_ret_t rmw_take_int(
const rmw_subscription_t * subscription, void * ros_message, const rmw_subscription_t * subscription, void * ros_message,
bool * taken, rmw_message_info_t * message_info) bool * taken, rmw_message_info_t * message_info)
{ {
RET_NULL(taken); RMW_CHECK_ARGUMENT_FOR_NULL(
RET_NULL(ros_message); taken, RMW_RET_INVALID_ARGUMENT);
RET_NULL(subscription);
RET_WRONG_IMPLID(subscription); RMW_CHECK_ARGUMENT_FOR_NULL(
ros_message, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(
subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(
message_info, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription handle,
subscription->implementation_identifier, eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
CddsSubscription * sub = static_cast<CddsSubscription *>(subscription->data); CddsSubscription * sub = static_cast<CddsSubscription *>(subscription->data);
RET_NULL(sub); RET_NULL(sub);
dds_sample_info_t info; dds_sample_info_t info;
@ -2557,20 +2569,37 @@ static rmw_ret_t rmw_take_seq(
rmw_message_info_sequence_t * message_info_sequence, rmw_message_info_sequence_t * message_info_sequence,
size_t * taken) size_t * taken)
{ {
RET_NULL(taken); RMW_CHECK_ARGUMENT_FOR_NULL(
RET_NULL(message_sequence); taken, RMW_RET_INVALID_ARGUMENT);
RET_NULL(message_info_sequence);
RET_NULL(subscription); RMW_CHECK_ARGUMENT_FOR_NULL(
message_sequence, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(
message_info_sequence, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(
subscription, RMW_RET_INVALID_ARGUMENT);
RET_WRONG_IMPLID(subscription); RET_WRONG_IMPLID(subscription);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription handle,
subscription->implementation_identifier, eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (0u == count) {
RMW_SET_ERROR_MSG("count cannot be 0");
return RMW_RET_INVALID_ARGUMENT;
}
if (count > message_sequence->capacity) { if (count > message_sequence->capacity) {
RMW_SET_ERROR_MSG("Insuffient capacity in message_sequence"); RMW_SET_ERROR_MSG("Insuffient capacity in message_sequence");
return RMW_RET_ERROR; return RMW_RET_INVALID_ARGUMENT;
} }
if (count > message_info_sequence->capacity) { if (count > message_info_sequence->capacity) {
RMW_SET_ERROR_MSG("Insuffient capacity in message_info_sequence"); RMW_SET_ERROR_MSG("Insuffient capacity in message_info_sequence");
return RMW_RET_ERROR; return RMW_RET_INVALID_ARGUMENT;
} }
if (count > (std::numeric_limits<uint32_t>::max)()) { if (count > (std::numeric_limits<uint32_t>::max)()) {