From ea03c0b0dac8f08e060a20db24ce060be1534fc9 Mon Sep 17 00:00:00 2001 From: Michel Hidalgo Date: Tue, 22 Sep 2020 11:06:30 -0300 Subject: [PATCH] Inject faults on __rmw_publish() and run_listener_thread() call. Signed-off-by: Michel Hidalgo --- rmw_fastrtps_shared_cpp/src/listener_thread.cpp | 2 ++ rmw_fastrtps_shared_cpp/src/rmw_publish.cpp | 8 ++++++++ 2 files changed, 10 insertions(+) diff --git a/rmw_fastrtps_shared_cpp/src/listener_thread.cpp b/rmw_fastrtps_shared_cpp/src/listener_thread.cpp index 50be5b3da..b4bb435ce 100644 --- a/rmw_fastrtps_shared_cpp/src/listener_thread.cpp +++ b/rmw_fastrtps_shared_cpp/src/listener_thread.cpp @@ -44,6 +44,8 @@ node_listener(rmw_context_t * context); rmw_ret_t rmw_fastrtps_shared_cpp::run_listener_thread(rmw_context_t * context) { + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR); + auto common_context = static_cast(context->impl->common); common_context->thread_is_running.store(true); common_context->listener_thread_gc = rmw_fastrtps_shared_cpp::__rmw_create_guard_condition( diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp index 5a417bb12..947f1c55e 100644 --- a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp @@ -33,6 +33,10 @@ __rmw_publish( const void * ros_message, rmw_publisher_allocation_t * allocation) { + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT); + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INCORRECT_RMW_IMPLEMENTATION); + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR); + (void) allocation; RMW_CHECK_FOR_NULL_WITH_MSG( publisher, "publisher handle is null", @@ -66,6 +70,10 @@ __rmw_publish_serialized_message( const rmw_serialized_message_t * serialized_message, rmw_publisher_allocation_t * allocation) { + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT); + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INCORRECT_RMW_IMPLEMENTATION); + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR); + (void) allocation; RMW_CHECK_FOR_NULL_WITH_MSG( publisher, "publisher handle is null",