Update destroy behavior to use RMW_RET_TIMEOUT (#142) (#144)

* Update destroy behavior to use RMW_RET_TIMEOUT

* Update topic destruction

Fix

(cherry picked from commit 9b24051)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: mergify[bot]

rmw_microxrcedds_c/src/rmw_client.c

@@ -215,11 +215,9 @@ rmw_destroy_client(
       custom_client->client_id);
 
     if (!run_xrce_session(custom_node->context, delete_client)) {
-      result_ret = RMW_RET_ERROR;
-    } else {
-      rmw_uxrce_fini_client_memory(client);
-      result_ret = RMW_RET_OK;
+      result_ret = RMW_RET_TIMEOUT;
     }
+    rmw_uxrce_fini_client_memory(client);
   }
 
   return result_ret;

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c

@@ -99,19 +99,22 @@ rmw_ret_t destroy_topic(
   rmw_uxrce_topic_t * topic)
 {
   rmw_ret_t result_ret = RMW_RET_OK;
-  rmw_uxrce_node_t * custom_node = topic->owner_node;
+  if (topic->owner_node != NULL) {
+    rmw_uxrce_node_t * custom_node = topic->owner_node;
 
-  uint16_t delete_topic = uxr_buffer_delete_entity(
-    &custom_node->context->session,
-    *custom_node->context->creation_destroy_stream,
-    topic->topic_id);
+    uint16_t delete_topic = uxr_buffer_delete_entity(
+      &custom_node->context->session,
+      *custom_node->context->creation_destroy_stream,
+      topic->topic_id);
 
-  if (!run_xrce_session(custom_node->context, delete_topic)) {
-    result_ret = RMW_RET_ERROR;
-  } else {
+    if (!run_xrce_session(custom_node->context, delete_topic)) {
+      result_ret = RMW_RET_TIMEOUT;
+    }
     rmw_uxrce_fini_topic_memory(topic);
-    result_ret = RMW_RET_OK;
+  } else {
+    result_ret = RMW_RET_ERROR;
   }
+
   return result_ret;
 }
 

rmw_microxrcedds_c/src/rmw_node.c

@@ -202,7 +202,7 @@ rmw_ret_t rmw_destroy_node(
     custom_node->participant_id);
 
   if (!run_xrce_session(custom_node->context, delete_participant)) {
-    ret = RMW_RET_ERROR;
+    ret = RMW_RET_TIMEOUT;
   }
 
   rmw_uxrce_fini_node_memory(node);

rmw_microxrcedds_c/src/rmw_publisher.c

@@ -369,7 +369,7 @@ rmw_destroy_publisher(
     bool ret = run_xrce_session(custom_node->context, delete_writer);
     ret &= run_xrce_session(custom_node->context, delete_publisher);
     if (!ret) {
-      result_ret = RMW_RET_ERROR;
+      result_ret = RMW_RET_TIMEOUT;
     }
 
     rmw_uxrce_fini_publisher_memory(publisher);

rmw_microxrcedds_c/src/rmw_service.c

@@ -215,7 +215,7 @@ rmw_destroy_service(
       custom_service->service_id);
 
     if (!run_xrce_session(custom_node->context, delete_service)) {
-      result_ret = RMW_RET_ERROR;
+      result_ret = RMW_RET_TIMEOUT;
     }
     rmw_uxrce_fini_service_memory(service);
   }

rmw_microxrcedds_c/src/rmw_subscription.c

@@ -343,8 +343,7 @@ rmw_destroy_subscription(
     bool ret = run_xrce_session(custom_node->context, delete_datareader);
     ret &= run_xrce_session(custom_node->context, delete_subscriber);
     if (!ret) {
-      RMW_SET_ERROR_MSG("unable to remove publisher from the server");
-      result_ret = RMW_RET_ERROR;
+      result_ret = RMW_RET_TIMEOUT;
     }
     rmw_uxrce_fini_subscription_memory(subscription);
   }

rmw_microxrcedds_c/src/types.c

@@ -228,6 +228,7 @@ void rmw_uxrce_fini_topic_memory(
   rmw_uxrce_topic_t * topic)
 {
   put_memory(&topics_memory, &topic->mem);
+  topic->owner_node = NULL;
 }
 
 rmw_uxrce_mempool_item_t * rmw_uxrce_find_static_input_buffer_by_owner(