Use macros RMW_CHECK_TYPE_IDENTIFIERS_MATCH, which is optimized for m…

…emory allocation inside rmw_fastrtps_cpp. - Include header necessary for using the above API. - Bring about common comparion (identifier match) method within all the files. Signed-off-by: Sriram Raghunathan <[email protected]>
ros2 · Oct 30, 2017 · a6d2aba · a6d2aba
1 parent 5030f85
commit a6d2aba
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Showing 21 changed files with 163 additions and 113 deletions.
diff --git a/rmw_fastrtps_cpp/src/get_client.cpp b/rmw_fastrtps_cpp/src/get_client.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
+
 #include "rmw_fastrtps_cpp/get_client.hpp"
 
 #include "rmw_fastrtps_cpp/custom_client_info.hpp"
@@ -26,9 +28,12 @@ get_request_publisher(rmw_client_t * client)
   if (!client) {
     return nullptr;
   }
-  if (client->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client handle,
+    client->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomClientInfo *>(client->data);
   return impl->request_publisher_;
 }
@@ -39,9 +44,12 @@ get_response_subscriber(rmw_client_t * client)
   if (!client) {
     return nullptr;
   }
-  if (client->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client handle,
+    client->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomClientInfo *>(client->data);
   return impl->response_subscriber_;
 }

diff --git a/rmw_fastrtps_cpp/src/get_participant.cpp b/rmw_fastrtps_cpp/src/get_participant.cpp
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include "rmw/impl/cpp/macros.hpp"
 
 #include "rmw_fastrtps_cpp/get_participant.hpp"
 
@@ -26,9 +27,12 @@ get_participant(rmw_node_t * node)
   if (!node) {
     return nullptr;
   }
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomParticipantInfo *>(node->data);
   return impl->participant;
 }

diff --git a/rmw_fastrtps_cpp/src/get_publisher.cpp b/rmw_fastrtps_cpp/src/get_publisher.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
+
 #include "rmw_fastrtps_cpp/get_publisher.hpp"
 
 #include "rmw_fastrtps_cpp/custom_publisher_info.hpp"
@@ -26,9 +28,12 @@ get_publisher(rmw_publisher_t * publisher)
   if (!publisher) {
     return nullptr;
   }
-  if (publisher->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher handle,
+    publisher->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomPublisherInfo *>(publisher->data);
   return impl->publisher_;
 }

diff --git a/rmw_fastrtps_cpp/src/get_service.cpp b/rmw_fastrtps_cpp/src/get_service.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
+
 #include "rmw_fastrtps_cpp/get_service.hpp"
 
 #include "rmw_fastrtps_cpp/custom_service_info.hpp"
@@ -26,9 +28,12 @@ get_request_subscriber(rmw_service_t * service)
   if (!service) {
     return nullptr;
   }
-  if (service->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    service handle,
+    service->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomServiceInfo *>(service->data);
   return impl->request_subscriber_;
 }
@@ -39,9 +44,12 @@ get_response_publisher(rmw_service_t * service)
   if (!service) {
     return nullptr;
   }
-  if (service->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    service handle,
+    service->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomServiceInfo *>(service->data);
   return impl->response_publisher_;
 }

diff --git a/rmw_fastrtps_cpp/src/get_subscriber.cpp b/rmw_fastrtps_cpp/src/get_subscriber.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
+
 #include "rmw_fastrtps_cpp/get_subscriber.hpp"
 
 #include "rmw_fastrtps_cpp/custom_subscriber_info.hpp"
@@ -26,9 +28,12 @@ get_subscriber(rmw_subscription_t * subscription)
   if (!subscription) {
     return nullptr;
   }
-  if (subscription->implementation_identifier != eprosima_fastrtps_identifier) {
-    return nullptr;
-  }
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    subscription handle,
+    subscription->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
+
   auto impl = static_cast<CustomSubscriberInfo *>(subscription->data);
   return impl->subscriber_;
 }

diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -17,6 +17,7 @@
 #include "rcutils/logging_macros.h"
 
 #include "rmw/allocators.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
@@ -45,10 +46,10 @@ rmw_create_client(
     return nullptr;
   }
 
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return nullptr;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
 
   if (!service_name || strlen(service_name) == 0) {
     RMW_SET_ERROR_MSG("client topic is null or empty string");

diff --git a/rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp b/rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp
@@ -14,6 +14,8 @@
 
 #include "fastrtps/rtps/common/Guid.h"
 
+
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 #include "rmw/error_handling.h"
 #include "rmw/types.h"
@@ -30,20 +32,20 @@ rmw_compare_gids_equal(const rmw_gid_t * gid1, const rmw_gid_t * gid2, bool * re
     return RMW_RET_ERROR;
   }
 
-  if (gid1->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("guid1 handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    gid1 handle,
+    gid1->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   if (!gid2) {
     RMW_SET_ERROR_MSG("gid2 is null");
     return RMW_RET_ERROR;
   }
 
-  if (gid2->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("gid1 handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    gid2 handle,
+    gid2->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   if (!result) {
     RMW_SET_ERROR_MSG("result is null");

diff --git a/rmw_fastrtps_cpp/src/rmw_count.cpp b/rmw_fastrtps_cpp/src/rmw_count.cpp
@@ -18,6 +18,7 @@
 
 #include "rcutils/logging_macros.h"
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
@@ -41,10 +42,10 @@ rmw_count_publishers(
     return RMW_RET_ERROR;
   }
   // Get participant pointer from node
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   auto impl = static_cast<CustomParticipantInfo *>(node->data);
 
@@ -80,10 +81,10 @@ rmw_count_subscribers(
     return RMW_RET_ERROR;
   }
   // Get participant pointer from node
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   CustomParticipantInfo * impl = static_cast<CustomParticipantInfo *>(node->data);
 

diff --git a/rmw_fastrtps_cpp/src/rmw_get_gid_for_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_get_gid_for_publisher.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
@@ -29,10 +30,10 @@ rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
     return RMW_RET_ERROR;
   }
 
-  if (publisher->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher handle,
+    publisher->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   if (!gid) {
     RMW_SET_ERROR_MSG("gid is null");

diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -20,6 +20,7 @@
 #include "rcutils/filesystem.h"
 #include "rcutils/logging_macros.h"
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -247,10 +248,10 @@ rmw_destroy_node(rmw_node_t * node)
     return RMW_RET_ERROR;
   }
 
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   auto impl = static_cast<CustomParticipantInfo *>(node->data);
   if (!impl) {

diff --git a/rmw_fastrtps_cpp/src/rmw_node_names.cpp b/rmw_fastrtps_cpp/src/rmw_node_names.cpp
@@ -18,6 +18,7 @@
 #include "rcutils/strdup.h"
 #include "rcutils/types.h"
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/allocators.h"
 #include "rmw/convert_rcutils_ret_to_rmw_ret.h"
 #include "rmw/error_handling.h"
@@ -45,10 +46,10 @@ rmw_get_node_names(
   }
 
   // Get participant pointer from node
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   auto impl = static_cast<CustomParticipantInfo *>(node->data);
   Participant * participant = impl->participant;

diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -15,6 +15,7 @@
 #include "fastcdr/Cdr.h"
 #include "fastcdr/FastBuffer.h"
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -32,10 +33,10 @@ rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
   assert(ros_message);
   rmw_ret_t returnedValue = RMW_RET_ERROR;
 
-  if (publisher->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher handle,
+    publisher->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   auto info = static_cast<CustomPublisherInfo *>(publisher->data);
   assert(info);

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -14,6 +14,7 @@
 
 #include <string>
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -39,10 +40,10 @@ rmw_create_publisher(
     return nullptr;
   }
 
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return nullptr;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return nullptr)
 
   if (!topic_name || strlen(topic_name) == 0) {
     RMW_SET_ERROR_MSG("publisher topic is null or empty string");
@@ -198,20 +199,20 @@ rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
     return RMW_RET_ERROR;
   }
 
-  if (node->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node handle,
+    node->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   if (!publisher) {
     RMW_SET_ERROR_MSG("publisher handle is null");
     return RMW_RET_ERROR;
   }
 
-  if (publisher->implementation_identifier != eprosima_fastrtps_identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher handle,
+    publisher->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
 
   auto info = static_cast<CustomPublisherInfo *>(publisher->data);
   if (info != nullptr) {