Updated error returns on rmw_take (#432)

Signed-off-by: lobotuerk <[email protected]>

Author: Lobotuerk

rmw_fastrtps_shared_cpp/src/rmw_take.cpp

@@ -60,10 +60,10 @@ _take(
   (void) allocation;
   *taken = false;
 
-  if (subscription->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    subscription handle,
+    subscription->implementation_identifier, identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION)
 
   CustomSubscriberInfo * info = static_cast<CustomSubscriberInfo *>(subscription->data);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(info, "custom subscriber info is null", return RMW_RET_ERROR);
@@ -102,10 +102,10 @@ _take_sequence(
   bool taken_flag = false;
   rmw_ret_t ret = RMW_RET_OK;
 
-  if (subscription->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    subscription handle,
+    subscription->implementation_identifier, identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
   CustomSubscriberInfo * info = static_cast<CustomSubscriberInfo *>(subscription->data);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(info, "custom subscriber info is null", return RMW_RET_ERROR);
@@ -175,11 +175,14 @@ __rmw_take(
   bool * taken,
   rmw_subscription_allocation_t * allocation)
 {
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    subscription, "subscription pointer is null", return RMW_RET_ERROR);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    ros_message, "ros_message pointer is null", return RMW_RET_ERROR);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(taken, "boolean flag for taken is null", return RMW_RET_ERROR);
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    subscription, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    ros_message, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    taken, RMW_RET_INVALID_ARGUMENT);
 
   return _take(identifier, subscription, ros_message, taken, nullptr, allocation);
 }
@@ -194,24 +197,31 @@ __rmw_take_sequence(
   size_t * taken,
   rmw_subscription_allocation_t * allocation)
 {
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    subscription, "subscription pointer is null", return RMW_RET_INVALID_ARGUMENT);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    message_sequence, "message_sequence pointer is null", return RMW_RET_INVALID_ARGUMENT);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    message_info_sequence, "message_info_sequence pointer is null",
-    return RMW_RET_INVALID_ARGUMENT);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    taken, "size_t flag for count is null", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    subscription, RMW_RET_INVALID_ARGUMENT);
+
+  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(
+    taken, RMW_RET_INVALID_ARGUMENT);
+
+  if (0u == count) {
+    RMW_SET_ERROR_MSG("count cannot be 0");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
 
   if (count > message_sequence->capacity) {
     RMW_SET_ERROR_MSG("Insufficient capacity in message_sequence");
-    return RMW_RET_ERROR;
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   if (count > message_info_sequence->capacity) {
     RMW_SET_ERROR_MSG("Insufficient capacity in message_info_sequence");
-    return RMW_RET_ERROR;
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   return _take_sequence(
@@ -228,13 +238,17 @@ __rmw_take_with_info(
   rmw_message_info_t * message_info,
   rmw_subscription_allocation_t * allocation)
 {
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    subscription, "subscription pointer is null", return RMW_RET_ERROR);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    ros_message, "ros_message pointer is null", return RMW_RET_ERROR);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(taken, "boolean flag for taken is null", return RMW_RET_ERROR);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    message_info, "message info pointer is null", return RMW_RET_ERROR);
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    message_info, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    taken, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    ros_message, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(
+    subscription, RMW_RET_INVALID_ARGUMENT);
 
   return _take(identifier, subscription, ros_message, taken, message_info, allocation);
 }