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Updated error returns on rmw_take #432

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Merged
merged 6 commits into from
Sep 18, 2020
Merged

Updated error returns on rmw_take #432

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f0b0e98
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Lobotuerk Sep 14, 2020
9392aae
fixup! first
Lobotuerk Sep 15, 2020
56bbb98
added take_with_info bad returns
Lobotuerk Sep 15, 2020
1ebcf3b
added take_sequence support
Lobotuerk Sep 17, 2020
95970f2
reviews
Lobotuerk Sep 18, 2020
a639de7
reviews
Lobotuerk Sep 18, 2020
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42 changes: 25 additions & 17 deletions rmw_fastrtps_shared_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down Expand Up @@ -175,11 +175,15 @@ __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_FOR_NULL_WITH_MSG(
subscription, "subscription handle is null",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
ros_message, "ros message handle is null",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
taken, "taken handle is null",
return RMW_RET_INVALID_ARGUMENT);

return _take(identifier, subscription, ros_message, taken, nullptr, allocation);
}
Expand Down Expand Up @@ -228,14 +232,18 @@ __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_FOR_NULL_WITH_MSG(
message_info, "message info is null",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
taken, "taken handle is null",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
ros_message, "ros message handle is null",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
subscription, "subscription handle is null",
return RMW_RET_INVALID_ARGUMENT);
return _take(identifier, subscription, ros_message, taken, message_info, allocation);
}

Expand Down