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Updated error returns on rmw_take #432

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merged 6 commits into from
Sep 18, 2020
Merged

Updated error returns on rmw_take #432

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f0b0e98
first
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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76 changes: 45 additions & 31 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,
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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 @@ -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);
Expand Down Expand Up @@ -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);
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return _take(identifier, subscription, ros_message, taken, nullptr, allocation);
}
Expand All @@ -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 (count == 0u) {
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RMW_SET_ERROR_MSG("count cant be 0");
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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;
}
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return _take_sequence(
Expand All @@ -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);
}
Expand Down