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Update service/client construction/destruction API return codes. (#464)
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Signed-off-by: Michel Hidalgo <[email protected]>
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@hidmic
hidmic authored Sep 24, 2020
1 parent c0a12cd commit 6e069ad
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Showing 2 changed files with 71 additions and 46 deletions.
58 changes: 35 additions & 23 deletions rmw_connext_cpp/src/rmw_client.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_connext_shared_cpp/types.hpp"
#include "rmw_connext_shared_cpp/qos.hpp"
Expand All @@ -41,21 +42,32 @@ rmw_create_client(
const char * service_name,
const rmw_qos_profile_t * qos_profile)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return NULL;
}
RMW_CHECK_ARGUMENT_FOR_NULL(node, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node handle,
node->implementation_identifier, rti_connext_identifier,
return NULL)

RMW_CONNEXT_EXTRACT_SERVICE_TYPESUPPORT(type_supports, type_support, NULL)

if (!qos_profile) {
RMW_SET_ERROR_MSG("qos_profile is null");
node,
node->implementation_identifier,
rti_connext_identifier,
return NULL);
RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
RMW_CONNEXT_EXTRACT_SERVICE_TYPESUPPORT(type_supports, type_support, NULL);
RMW_CHECK_ARGUMENT_FOR_NULL(service_name, nullptr);
if (0 == strlen(service_name)) {
RMW_SET_ERROR_MSG("service_name argument is an empty string");
return nullptr;
}
RMW_CHECK_ARGUMENT_FOR_NULL(qos_profile, nullptr);
if (!qos_profile->avoid_ros_namespace_conventions) {
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(service_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return nullptr;
}
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("service_name argument is invalid: %s", reason);
return nullptr;
}
}

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
Expand Down Expand Up @@ -277,18 +289,18 @@ rmw_create_client(
rmw_ret_t
rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return RMW_RET_ERROR;
}
if (!client) {
RMW_SET_ERROR_MSG("client handle is null");
return RMW_RET_ERROR;
}
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
rti_connext_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
client handle,
client->implementation_identifier, rti_connext_identifier,
return RMW_RET_ERROR)
client,
client->implementation_identifier,
rti_connext_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

auto result = RMW_RET_OK;
ConnextStaticClientInfo * client_info = static_cast<ConnextStaticClientInfo *>(client->data);
Expand Down
59 changes: 36 additions & 23 deletions rmw_connext_cpp/src/rmw_service.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,9 @@

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_connext_shared_cpp/qos.hpp"
#include "rmw_connext_shared_cpp/types.hpp"
Expand All @@ -40,21 +42,32 @@ rmw_create_service(
const char * service_name,
const rmw_qos_profile_t * qos_profile)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return NULL;
}
RMW_CHECK_ARGUMENT_FOR_NULL(node, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node handle,
node->implementation_identifier, rti_connext_identifier,
return NULL)

RMW_CONNEXT_EXTRACT_SERVICE_TYPESUPPORT(type_supports, type_support, NULL)

if (!qos_profile) {
RMW_SET_ERROR_MSG("qos_profile is null");
node,
node->implementation_identifier,
rti_connext_identifier,
return NULL);
RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
RMW_CONNEXT_EXTRACT_SERVICE_TYPESUPPORT(type_supports, type_support, NULL);
RMW_CHECK_ARGUMENT_FOR_NULL(service_name, nullptr);
if (0 == strlen(service_name)) {
RMW_SET_ERROR_MSG("service_name argument is an empty string");
return nullptr;
}
RMW_CHECK_ARGUMENT_FOR_NULL(qos_profile, nullptr);
if (!qos_profile->avoid_ros_namespace_conventions) {
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(service_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return nullptr;
}
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("service_name argument is invalid: %s", reason);
return nullptr;
}
}

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
Expand Down Expand Up @@ -288,18 +301,18 @@ rmw_create_service(
rmw_ret_t
rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return RMW_RET_ERROR;
}
if (!service) {
RMW_SET_ERROR_MSG("service handle is null");
return RMW_RET_ERROR;
}
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
rti_connext_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
service handle,
service->implementation_identifier, rti_connext_identifier,
return RMW_RET_ERROR)
service,
service->implementation_identifier,
rti_connext_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

auto result = RMW_RET_OK;
ConnextStaticServiceInfo * service_info = static_cast<ConnextStaticServiceInfo *>(service->data);
Expand Down

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