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Document rmw_destroy_node may assume correct destruction order #216

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Apr 21, 2020
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Document rmw_destroy_node may assume correct destruction order #216

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6 changes: 6 additions & 0 deletions rmw/include/rmw/rmw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -177,6 +177,12 @@ rmw_create_node(

/// Finalize a given node handle, reclaim the resources, and deallocate the node handle.
/**
* The method may assume - but should verify - that all publishers, subscribers,
* services, and clients created from this node have already been destroyed.
* If the rmw implementation chooses to verify instead of assume, it should
* return `RMW_RET_ERROR` and set a human readable error message if any entity
* created from this node has not yet been destroyed.
*
* \param node the node handle to be destroyed
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if node is null, or
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