Update

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

Author: pablogs9

rmw_microxrcedds_c/include/rmw_microros/error_handling.h

@@ -19,15 +19,17 @@
 #ifndef RMW_MICROROS__ERROR_HANDLING_H_
 #define RMW_MICROROS__ERROR_HANDLING_H_
 
+#ifdef RMW_UROS_ERROR_HANDLING
+
 #include <ucdr/microcdr.h>
+#include <rosidl_typesupport_microxrcedds_c/message_type_support.h>
+#include <rosidl_typesupport_microxrcedds_c/service_type_support.h>
 
 #if defined(__cplusplus)
 extern "C"
 {
 #endif  // if defined(__cplusplus)
 
-#ifdef RMW_UROS_ERROR_HANDLING
-
 typedef enum
 {
   RMW_UROS_ERROR_ON_UNKNOWN = 0,
@@ -39,17 +41,23 @@ typedef enum
   RMW_UROS_ERROR_ON_PUBLISHER
 } rmw_uros_error_entity_type_t;
 
-typedef enum {
+typedef enum
+{
   RMW_UROS_ERROR_ENTITY_CREATION = 0,
   RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
 } rmw_uros_error_source_t;
 
-typedef struct {
+typedef struct
+{
   const char * node;
   const char * namespace;
   const char * topic_name;
   const ucdrBuffer * ucdr;
   const size_t size;
+  union {
+    const message_type_support_callbacks_t * message_callbacks;
+    const service_type_support_callbacks_t * service_callbacks;
+  } type_support;
 } rmw_uros_error_context_t;
 
 typedef void (* rmw_uros_error_handling)(
@@ -69,12 +77,12 @@ typedef void (* rmw_uros_error_handling)(
 void rmw_uros_set_error_handling_callback(
   rmw_uros_error_handling error_cb);
 
-#endif  // RMW_UROS_ERROR_HANDLING
-
 /** @}*/
 
 #if defined(__cplusplus)
 }
 #endif  // if defined(__cplusplus)
 
+#endif  // RMW_UROS_ERROR_HANDLING
+
 #endif  // RMW_MICROROS__ERROR_HANDLING_H_

rmw_microxrcedds_c/src/callbacks.c

@@ -75,9 +75,15 @@ void on_topic(
       rmw_uxrce_mempool_item_t * memory_node = rmw_uxrce_get_static_input_buffer_for_entity(
         custom_subscription, custom_subscription->qos);
       if (!memory_node) {
-        RMW_SET_ERROR_MSG("Not available static buffer memory node");
         UXR_UNLOCK(&static_buffer_memory.mutex);
-        RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_ON_SUBSCRIPTION, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION, .node = custom_subscription->owner_node->node_name, .namespace = custom_subscription->owner_node->node_namespace, .topic_name = custom_subscription->topic_name, .ucdr = ub, .size = length);
+        RMW_SET_ERROR_MSG("Not available static buffer memory node");
+        RMW_UROS_TRACE_ERROR(
+          RMW_UROS_ERROR_ON_SUBSCRIPTION, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
+          .node = custom_subscription->owner_node->node_name,
+          .namespace = custom_subscription->owner_node->node_namespace,
+          .topic_name = custom_subscription->topic_name, .ucdr = ub,
+          .size = length,
+          .type_support.message_callbacks = custom_subscription->type_support_callbacks);
         return;
       }
 
@@ -128,9 +134,15 @@ void on_request(
       rmw_uxrce_mempool_item_t * memory_node = rmw_uxrce_get_static_input_buffer_for_entity(
         custom_service, custom_service->qos);
       if (!memory_node) {
-        RMW_SET_ERROR_MSG("Not available static buffer memory node");
         UXR_UNLOCK(&static_buffer_memory.mutex);
-        // RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION, .node = custom_service->owner_node->node_name, .namespace = custom_service->owner_node->node_namespace, .topic = custom_subscription->topic_name, .ucdr = ub, .size = length);
+        RMW_SET_ERROR_MSG("Not available static buffer memory node");
+        RMW_UROS_TRACE_ERROR(
+          RMW_UROS_ERROR_ON_SERVICE, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
+          .node = custom_service->owner_node->node_name,
+          .namespace = custom_service->owner_node->node_namespace,
+          .topic_name = custom_service->service_name, .ucdr = ub,
+          .size = length,
+          .type_support.service_callbacks = custom_service->type_support_callbacks);
         return;
       }
 
@@ -183,9 +195,15 @@ void on_reply(
       rmw_uxrce_mempool_item_t * memory_node = rmw_uxrce_get_static_input_buffer_for_entity(
         custom_client, custom_client->qos);
       if (!memory_node) {
-        RMW_SET_ERROR_MSG("Not available static buffer memory node");
         UXR_UNLOCK(&static_buffer_memory.mutex);
-        // RMW_UROS_TRACE_ERROR(RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION, ub, length);
+        RMW_SET_ERROR_MSG("Not available static buffer memory node");
+        RMW_UROS_TRACE_ERROR(
+          RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
+          .node = custom_client->owner_node->node_name,
+          .namespace = custom_client->owner_node->node_namespace,
+          .topic_name = custom_client->service_name, .ucdr = ub,
+          .size = length,
+          .type_support.service_callbacks = custom_service->type_support_callbacks);
         return;
       }
 

rmw_microxrcedds_c/src/rmw_microros_internal/memory_error_handling_internal.h

@@ -31,7 +31,8 @@ extern "C"
 extern rmw_uros_error_handling error_callback;
 
 // #define RMW_UROS_TRACE_ERROR(source, context) if(NULL != error_callback) {error_callback(source, (rmw_uros_error_context_t) context);}
-#define RMW_UROS_TRACE_ERROR(entity, source, ...) if(NULL != error_callback) {error_callback(entity, source, (rmw_uros_error_context_t){__VA_ARGS__});}
+#define RMW_UROS_TRACE_ERROR(entity, source, ...) if (NULL != error_callback) {error_callback( \
+      entity, source, (rmw_uros_error_context_t) {__VA_ARGS__});}
 
 #else
 #define RMW_UROS_TRACE_ERROR(source, context)