Update

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

Author: pablogs9

rmw_microxrcedds_c/include/rmw_microros/error_handling.h

@@ -34,17 +34,21 @@ typedef enum
 {
   RMW_UROS_ERROR_ON_UNKNOWN = 0,
   RMW_UROS_ERROR_ON_NODE,
-  RMW_UROS_ERROR_ON_TOPIC,
   RMW_UROS_ERROR_ON_SERVICE,
   RMW_UROS_ERROR_ON_CLIENT,
   RMW_UROS_ERROR_ON_SUBSCRIPTION,
-  RMW_UROS_ERROR_ON_PUBLISHER
+  RMW_UROS_ERROR_ON_PUBLISHER,
+  RMW_UROS_ERROR_ON_GRAPH,
+  RMW_UROS_ERROR_ON_GUARD_CONDITION,
+  RMW_UROS_ERROR_ON_TOPIC
 } rmw_uros_error_entity_type_t;
 
 typedef enum
 {
   RMW_UROS_ERROR_ENTITY_CREATION = 0,
   RMW_UROS_ERROR_ENTITY_DESTRUCTION,
+  RMW_UROS_ERROR_CHECK,
+  RMW_UROS_ERROR_NOT_IMPLEMENTED,
   RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
 } rmw_uros_error_source_t;
 

rmw_microxrcedds_c/include/rmw_microxrcedds_c/rmw_c_macros.h

@@ -16,12 +16,13 @@
 #define RMW_MICROXRCEDDS_C__RMW_C_MACROS_H_
 
 #include <rmw/error_handling.h>
+#include <rmw_microros_internal/identifiers.h>
 
-#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
+#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(identifier, ret_on_failure) \
   { \
-    if (strcmp(ElementTypeID, ExpectedTypeID) != 0) { \
+    if (NULL != identifier && strcmp(identifier, eprosima_microxrcedds_identifier) != 0) { \
       RMW_SET_ERROR_MSG("Implementation identifiers does not match"); \
-      OnFailure; \
+      return ret_on_failure; \
     } \
   }
 

rmw_microxrcedds_c/src/callbacks.c

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include <rmw_microros_internal/callbacks.h>
-#include <rmw_microros_internal/memory_error_handling_internal.h>
+#include "./rmw_microros_internal/error_handling_internal.h"
 
 void on_status(
   struct uxrSession * session,

rmw_microxrcedds_c/src/rmw_client.c

@@ -35,20 +35,20 @@ rmw_create_client(
 {
   rmw_client_t * rmw_client = NULL;
   if (!node) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "node handle is null", 0);
+    RMW_UROS_TRACE_MESSAGE("node handle is null")
   } else if (!type_support) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "type support is null", 0);
+    RMW_UROS_TRACE_MESSAGE("type support is null")
   } else if (!is_uxrce_rmw_identifier_valid(node->implementation_identifier)) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "node handle not from this implementation", 0);
+    RMW_UROS_TRACE_MESSAGE("node handle not from this implementation")
   } else if (!service_name || strlen(service_name) == 0) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "service name is null or empty string", 0);
+    RMW_UROS_TRACE_MESSAGE("service name is null or empty string")
   } else if (!qos_policies) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "qos_profile is null", 0);
+    RMW_UROS_TRACE_MESSAGE("qos_profile is null")
   } else {
     rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)node->data;
     rmw_uxrce_mempool_item_t * memory_node = get_memory(&client_memory);
     if (!memory_node) {
-      RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "Not available memory node", 0);
+      RMW_UROS_TRACE_MESSAGE("Not available memory node")
       return NULL;
     }
     rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)memory_node->data;
@@ -58,7 +58,7 @@ rmw_create_client(
     rmw_client->implementation_identifier = rmw_get_implementation_identifier();
     rmw_client->service_name = custom_client->service_name;
     if ((strlen(service_name) + 1 ) > sizeof(custom_client->service_name)) {
-      RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "failed to allocate string", 0);
+      RMW_UROS_TRACE_MESSAGE("failed to allocate string")
       goto fail;
     }
 
@@ -80,15 +80,15 @@ rmw_create_client(
     }
 #endif /* ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_CPP__IDENTIFIER_VALUE */
     if (NULL == type_support_xrce) {
-      RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "Undefined type support", 0);
+      RMW_UROS_TRACE_MESSAGE("Undefined type support")
       goto fail;
     }
 
     custom_client->type_support_callbacks =
       (const service_type_support_callbacks_t *)type_support_xrce->data;
 
     if (custom_client->type_support_callbacks == NULL) {
-      RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "type support data is NULL", 0);
+      RMW_UROS_TRACE_MESSAGE("type support data is NULL")
       goto fail;
     }
 
@@ -109,7 +109,7 @@ rmw_create_client(
         custom_client->type_support_callbacks, qos_policies, rmw_uxrce_entity_naming_buffer,
         sizeof(rmw_uxrce_entity_naming_buffer)))
     {
-      RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_CREATION, "failed to generate xml request for client creation", 0);
+      RMW_UROS_TRACE_MESSAGE("failed to generate xml request for client creation")
       goto fail;
     }
     client_req = uxr_buffer_create_requester_xml(
@@ -190,22 +190,22 @@ rmw_destroy_client(
 {
   rmw_ret_t result_ret = RMW_RET_OK;
   if (!node) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_DESTRUCTION, "node handle is null", 0);
+    RMW_UROS_TRACE_MESSAGE("node handle is null")
     result_ret = RMW_RET_ERROR;
   } else if (!is_uxrce_rmw_identifier_valid(node->implementation_identifier)) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_DESTRUCTION, "node handle not from this implementation", 0);
+    RMW_UROS_TRACE_MESSAGE("node handle not from this implementation")
     result_ret = RMW_RET_ERROR;
   } else if (!node->data) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_DESTRUCTION, "node imp is null", 0);
+    RMW_UROS_TRACE_MESSAGE("node imp is null")
     result_ret = RMW_RET_ERROR;
   } else if (!client) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_DESTRUCTION, "client handle is null", 0);
+    RMW_UROS_TRACE_MESSAGE("client handle is null")
     result_ret = RMW_RET_ERROR;
   } else if (!is_uxrce_rmw_identifier_valid(client->implementation_identifier)) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_DESTRUCTION, "client handle not from this implementation", 0);
+    RMW_UROS_TRACE_MESSAGE("client handle not from this implementation")
     result_ret = RMW_RET_ERROR;
   } else if (!client->data) {
-    RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_ENTITY_DESTRUCTION, "client imp is null", 0);
+    RMW_UROS_TRACE_MESSAGE("client imp is null")
     result_ret = RMW_RET_ERROR;
   } else {
     rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)node->data;

rmw_microxrcedds_c/src/rmw_compare_gids_equal.c

@@ -15,6 +15,9 @@
 #include <rmw/rmw.h>
 #include <rmw/error_handling.h>
 
+#include <rmw_microxrcedds_c/rmw_c_macros.h>
+#include "./rmw_microros_internal/error_handling_internal.h"
+
 rmw_ret_t
 rmw_compare_gids_equal(
   const rmw_gid_t * gid1,
@@ -24,13 +27,12 @@ rmw_compare_gids_equal(
   // Check
   RMW_CHECK_ARGUMENT_FOR_NULL(gid1, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(gid2, RMW_RET_INVALID_ARGUMENT);
-  if (gid1->implementation_identifier != rmw_get_implementation_identifier()) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION;
-  } else if (gid2->implementation_identifier != rmw_get_implementation_identifier()) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    gid1->implementation_identifier,
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    gid2->implementation_identifier,
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
   *result = memcmp(gid1->data, gid2->data, sizeof(rmw_gid_t)) == 0;
 

rmw_microxrcedds_c/src/rmw_count.c

@@ -21,6 +21,7 @@
 
 #include "./rmw_microros_internal/types.h"
 #include "./rmw_microros_internal/identifiers.h"
+#include "./rmw_microros_internal/error_handling_internal.h"
 
 #ifdef RMW_UXRCE_GRAPH
 #include "./rmw_microros_internal/rmw_graph.h"
@@ -37,8 +38,8 @@ __rmw_count_entities(
   // Perform RMW checks
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
-    node, node->implementation_identifier,
-    eprosima_microxrcedds_identifier, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+    node->implementation_identifier,
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
   // Set count to zero, just in case it was holding another value
@@ -98,8 +99,7 @@ rmw_count_publishers(
   (void)node;
   (void)topic_name;
   (void)count;
-  RMW_SET_ERROR_MSG(
-    "Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
+  RMW_UROS_TRACE_MESSAGE("Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
   return RMW_RET_UNSUPPORTED;
 #endif  // RMW_UXRCE_GRAPH
 }
@@ -120,8 +120,7 @@ rmw_count_subscribers(
   (void)node;
   (void)topic_name;
   (void)count;
-  RMW_SET_ERROR_MSG(
-    "Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
+  RMW_UROS_TRACE_MESSAGE("Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
   return RMW_RET_UNSUPPORTED;
 #endif  // RMW_UXRCE_GRAPH
 }

rmw_microxrcedds_c/src/rmw_event.c

@@ -14,6 +14,8 @@
 
 #include <rmw/event.h>
 
+#include "./rmw_microros_internal/error_handling_internal.h"
+
 rmw_ret_t
 rmw_publisher_event_init(
   rmw_event_t * rmw_event,
@@ -23,7 +25,7 @@ rmw_publisher_event_init(
   (void)rmw_event;
   (void)publisher;
   (void)event_type;
-  RMW_SET_ERROR_MSG("function not implemented");
+  RMW_UROS_TRACE_MESSAGE("function not implemented")
   return RMW_RET_UNSUPPORTED;
 }
 
@@ -36,6 +38,6 @@ rmw_subscription_event_init(
   (void)rmw_event;
   (void)subscription;
   (void)event_type;
-  RMW_SET_ERROR_MSG("function not implemented");
+  RMW_UROS_TRACE_MESSAGE("function not implemented")
   return RMW_RET_UNSUPPORTED;
 }

rmw_microxrcedds_c/src/rmw_get_endpoint_network_flow.c

@@ -16,6 +16,8 @@
 #include <rmw/types.h>
 #include <rmw/get_network_flow_endpoints.h>
 
+#include "./rmw_microros_internal/error_handling_internal.h"
+
 rmw_ret_t
 rmw_publisher_get_network_flow_endpoints(
   const rmw_publisher_t * publisher,
@@ -26,7 +28,7 @@ rmw_publisher_get_network_flow_endpoints(
   (void) allocator;
   (void) network_flow_endpoint_array;
 
-  RMW_SET_ERROR_MSG("function not implemented");
+  RMW_UROS_TRACE_MESSAGE("function not implemented")
   return RMW_RET_UNSUPPORTED;
 }
 
@@ -40,6 +42,6 @@ rmw_subscription_get_network_flow_endpoints(
   (void) allocator;
   (void) network_flow_endpoint_array;
 
-  RMW_SET_ERROR_MSG("function not implemented");
+  RMW_UROS_TRACE_MESSAGE("function not implemented")
   return RMW_RET_UNSUPPORTED;
 }

rmw_microxrcedds_c/src/rmw_get_gid_for_publisher.c

@@ -13,27 +13,26 @@
 // limitations under the License.
 
 #include <rmw/rmw.h>
+#include <rmw_microxrcedds_c/rmw_c_macros.h>
 
 #include "./rmw_microros_internal/types.h"
+#include "./rmw_microros_internal/error_handling_internal.h"
 
 rmw_ret_t
 rmw_get_gid_for_publisher(
   const rmw_publisher_t * publisher,
   rmw_gid_t * gid)
 {
-  // Check
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);
-  if (publisher->implementation_identifier != rmw_get_implementation_identifier()) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION;
-  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher->implementation_identifier,
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
-  // Do
   rmw_uxrce_publisher_t * custom_publisher = (rmw_uxrce_publisher_t *)publisher->data;
 
   if (sizeof(uxrObjectId) > RMW_GID_STORAGE_SIZE) {
-    RMW_SET_ERROR_MSG("Not enough memory for impl ids");
+    RMW_UROS_TRACE_MESSAGE("Not enough memory for impl ids")
     return RMW_RET_ERROR;
   }
 

rmw_microxrcedds_c/src/rmw_get_topic_endpoint_info.c

@@ -24,6 +24,7 @@
 
 #include "./rmw_microros_internal/types.h"
 #include "./rmw_microros_internal/identifiers.h"
+#include "./rmw_microros_internal/error_handling_internal.h"
 
 #ifdef RMW_UXRCE_GRAPH
 #include "./rmw_microros_internal/rmw_graph.h"
@@ -70,8 +71,8 @@ __rmw_get_endpoint_info_by_topic(
   // Perform RMW checks
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
-    node, node->implementation_identifier,
-    eprosima_microxrcedds_identifier, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+    node->implementation_identifier,
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
     allocator, "Allocator argument is invalid",
     return RMW_RET_INVALID_ARGUMENT);
@@ -206,8 +207,7 @@ rmw_get_publishers_info_by_topic(
   (void)topic_name;
   (void)no_mangle;
   (void)publishers_info;
-  RMW_SET_ERROR_MSG(
-    "Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
+  RMW_UROS_TRACE_MESSAGE("Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
   return RMW_RET_UNSUPPORTED;
 #endif  // RMW_UXRCE_GRAPH
 }
@@ -234,8 +234,7 @@ rmw_get_subscriptions_info_by_topic(
   (void)topic_name;
   (void)no_mangle;
   (void)subscriptions_info;
-  RMW_SET_ERROR_MSG(
-    "Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
+  RMW_UROS_TRACE_MESSAGE("Function not available; enable RMW_UXRCE_GRAPH configuration profile before using");
   return RMW_RET_UNSUPPORTED;
 #endif  // RMW_UXRCE_GRAPH
 }