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add missing checks of the return for rmw publish / send calls #53

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dirk-thomas wants to merge 2 commits into from
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add missing checks of the return for rmw publish / send calls #53

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fe817e4
add missing checks of the return for rmw publish / send calls
dirk-thomas Jul 8, 2015
6203b80
add missing checks in the executor
dirk-thomas Jul 9, 2015
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10 changes: 9 additions & 1 deletion rclcpp/include/rclcpp/client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <memory>
#include <utility>

#include <rmw/error_handling.h>
#include <rmw/rmw.h>

#include <rclcpp/macros.hpp>
Expand Down Expand Up @@ -134,7 +135,14 @@ class Client : public ClientBase
{
int64_t sequence_number;
// TODO(wjwwood): Check the return code.
rmw_send_request(get_client_handle(), request.get(), &sequence_number);
rmw_ret_t status = rmw_send_request(get_client_handle(), request.get(), &sequence_number);
if (status != RMW_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to send request: ") +
(rmw_get_error_string() ? rmw_get_error_string() : ""));
// *INDENT-ON*
}

SharedPromise call_promise = std::make_shared<Promise>();
SharedFuture f(call_promise->get_future());
Expand Down
12 changes: 7 additions & 5 deletions rclcpp/include/rclcpp/executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,8 +162,9 @@ class Executor
subscription->handle_message(message);
}
} else {
std::cout << "[rclcpp::error] take failed for subscription on topic: " <<
subscription->get_topic_name() << std::endl;
fprintf(stderr, "[rclcpp::error] take failed for subscription on topic '%s': %s\n",
subscription->get_topic_name().c_str(),
rmw_get_error_string() ? rmw_get_error_string() : "");
}
}

Expand Down Expand Up @@ -191,8 +192,8 @@ class Executor
service->handle_request(request_header, request);
}
} else {
std::cout << "[rclcpp::error] take failed for service on service: " <<
service->get_service_name() << std::endl;
fprintf(stderr, "[rclcpp::error] take failed for service '%s': %s\n",
service->get_service_name().c_str(), rmw_get_error_string() ? rmw_get_error_string() : "");
}
}

Expand All @@ -211,7 +212,8 @@ class Executor
if (taken) {
client->handle_response(request_header, response);
} else {
std::cout << "[rclcpp::error] take failed for service on client" << std::endl;
fprintf(stderr, "[rclcpp::error] take failed for service on client: %s\n",
rmw_get_error_string() ? rmw_get_error_string() : "");
}
}

Expand Down
10 changes: 9 additions & 1 deletion rclcpp/include/rclcpp/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <memory>

#include <rmw/error_handling.h>
#include <rmw/rmw.h>

#include <rclcpp/macros.hpp>
Expand Down Expand Up @@ -46,7 +47,14 @@ class Publisher
void
publish(std::shared_ptr<MessageT> & msg)
{
rmw_publish(publisher_handle_, msg.get());
rmw_ret_t status = rmw_publish(publisher_handle_, msg.get());
if (status != RMW_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to publish message: ") +
(rmw_get_error_string() ? rmw_get_error_string() : ""));
// *INDENT-ON*
}
}

private:
Expand Down
10 changes: 9 additions & 1 deletion rclcpp/include/rclcpp/service.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <memory>
#include <string>

#include <rmw/error_handling.h>
#include <rmw/rmw.h>

#include <rclcpp/macros.hpp>
Expand Down Expand Up @@ -141,7 +142,14 @@ class Service : public ServiceBase
std::shared_ptr<rmw_request_id_t> & req_id,
std::shared_ptr<typename ServiceT::Response> & response)
{
rmw_send_response(get_service_handle(), req_id.get(), response.get());
rmw_ret_t status = rmw_send_response(get_service_handle(), req_id.get(), response.get());
if (status != RMW_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to send response: ") +
(rmw_get_error_string() ? rmw_get_error_string() : ""));
// *INDENT-ON*
}
}

private:
Expand Down