Update

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

Author: pablogs9

rmw_microxrcedds_c/include/rmw_microros/error_handling.h

@@ -58,12 +58,15 @@ typedef struct
     const message_type_support_callbacks_t * message_callbacks;
     const service_type_support_callbacks_t * service_callbacks;
   } type_support;
+  const char * description;
 } rmw_uros_error_context_t;
 
 typedef void (* rmw_uros_error_handling)(
   const rmw_uros_error_source_t source,
   const rmw_uros_error_entity_type_t entity,
-  const rmw_uros_error_context_t context);
+  const rmw_uros_error_context_t context,
+  const char * file,
+  const int line);
 
 /** \addtogroup rmw micro-ROS RMW API
  *  @{

rmw_microxrcedds_c/src/callbacks.c

@@ -14,7 +14,6 @@
 
 #include <rmw_microros_internal/callbacks.h>
 #include <rmw_microros_internal/memory_error_handling_internal.h>
-#include <rmw/error_handling.h>
 
 void on_status(
   struct uxrSession * session,
@@ -76,9 +75,9 @@ void on_topic(
         custom_subscription, custom_subscription->qos);
       if (!memory_node) {
         UXR_UNLOCK(&static_buffer_memory.mutex);
-        RMW_SET_ERROR_MSG("Not available static buffer memory node");
         RMW_UROS_TRACE_ERROR(
           RMW_UROS_ERROR_ON_SUBSCRIPTION, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
+          "Not available static buffer memory node in on_topic callback",
           .node = custom_subscription->owner_node->node_name,
           .namespace = custom_subscription->owner_node->node_namespace,
           .topic_name = custom_subscription->topic_name, .ucdr = ub,
@@ -135,9 +134,9 @@ void on_request(
         custom_service, custom_service->qos);
       if (!memory_node) {
         UXR_UNLOCK(&static_buffer_memory.mutex);
-        RMW_SET_ERROR_MSG("Not available static buffer memory node");
         RMW_UROS_TRACE_ERROR(
           RMW_UROS_ERROR_ON_SERVICE, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
+          "Not available static buffer memory node in on_request callback",
           .node = custom_service->owner_node->node_name,
           .namespace = custom_service->owner_node->node_namespace,
           .topic_name = custom_service->service_name, .ucdr = ub,
@@ -196,14 +195,14 @@ void on_reply(
         custom_client, custom_client->qos);
       if (!memory_node) {
         UXR_UNLOCK(&static_buffer_memory.mutex);
-        RMW_SET_ERROR_MSG("Not available static buffer memory node");
         RMW_UROS_TRACE_ERROR(
           RMW_UROS_ERROR_ON_CLIENT, RMW_UROS_ERROR_MIDDLEWARE_ALLOCATION,
+          "Not available static buffer memory node in on_reply callback",
           .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);
+          .type_support.service_callbacks = custom_client->type_support_callbacks);
         return;
       }
 

rmw_microxrcedds_c/src/rmw_microros_internal/memory_error_handling_internal.h

@@ -30,9 +30,13 @@ extern "C"
 #ifdef RMW_UROS_ERROR_HANDLING
 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, desc, ...) \
+  if (NULL != error_callback) { \
+    rmw_uros_error_context_t ctx = {__VA_ARGS__}; \
+    ctx.description = desc; \
+    RMW_SET_ERROR_MSG(desc); \
+    error_callback(entity, source, ctx, __FILE__, __LINE__); \
+  }
 
 #else
 #define RMW_UROS_TRACE_ERROR(source, context)