From 19bf36cb36f4ad98fc4895ad2db53e73786f13ef Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Tue, 29 May 2018 11:00:00 -0700 Subject: [PATCH] use rcl_subscription_is_valid --- rcl/src/rcl/subscription.c | 39 +++++++++++++++----------------------- 1 file changed, 15 insertions(+), 24 deletions(-) diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c index f04aa72ae..a750599bf 100644 --- a/rcl/src/rcl/subscription.c +++ b/rcl/src/rcl/subscription.c @@ -241,18 +241,12 @@ rcl_take( rmw_message_info_t * message_info) { RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking message") - RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); - const rcl_subscription_options_t * options = rcl_subscription_get_options(subscription); - if (!options) { - return RCL_RET_SUBSCRIPTION_INVALID; + rcl_allocator_t error_allocator = rcl_get_default_allocator(); + if (!rcl_subscription_is_valid(subscription, &error_allocator)) { + return RCL_RET_SUBSCRIPTION_INVALID; // error message already set } - RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT, options->allocator); - RCL_CHECK_FOR_NULL_WITH_MSG( - subscription->impl, "subscription is invalid", - return RCL_RET_SUBSCRIPTION_INVALID, options->allocator); - RCL_CHECK_FOR_NULL_WITH_MSG( - subscription->impl->rmw_handle, - "subscription is invalid", return RCL_RET_SUBSCRIPTION_INVALID, options->allocator); + RCL_CHECK_ARGUMENT_FOR_NULL( + ros_message, RCL_RET_INVALID_ARGUMENT, error_allocator); // If message_info is NULL, use a place holder which can be discarded. rmw_message_info_t dummy_message_info; rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info; @@ -261,7 +255,7 @@ rcl_take( rmw_ret_t ret = rmw_take_with_info(subscription->impl->rmw_handle, ros_message, &taken, message_info_local); if (ret != RMW_RET_OK) { - RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), options->allocator); + RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), error_allocator); return RCL_RET_ERROR; } RCUTILS_LOG_DEBUG_NAMED( @@ -278,18 +272,13 @@ rcl_take_raw( rcl_message_raw_t * raw_message, rmw_message_info_t * message_info) { - RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); - const rcl_subscription_options_t * options = rcl_subscription_get_options(subscription); - if (!options) { - return RCL_RET_SUBSCRIPTION_INVALID; + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking raw message") + rcl_allocator_t error_allocator = rcl_get_default_allocator(); + if (!rcl_subscription_is_valid(subscription, &error_allocator)) { + return RCL_RET_SUBSCRIPTION_INVALID; // error message already set } - RCL_CHECK_ARGUMENT_FOR_NULL(raw_message, RCL_RET_INVALID_ARGUMENT, options->allocator); - RCL_CHECK_FOR_NULL_WITH_MSG( - subscription->impl, "subscription is invalid", - return RCL_RET_SUBSCRIPTION_INVALID, options->allocator); - RCL_CHECK_FOR_NULL_WITH_MSG( - subscription->impl->rmw_handle, - "subscription is invalid", return RCL_RET_SUBSCRIPTION_INVALID, options->allocator); + RCL_CHECK_ARGUMENT_FOR_NULL( + raw_message, RCL_RET_INVALID_ARGUMENT, error_allocator); // If message_info is NULL, use a place holder which can be discarded. rmw_message_info_t dummy_message_info; rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info; @@ -298,9 +287,11 @@ rcl_take_raw( rmw_ret_t ret = rmw_take_raw_with_info(subscription->impl->rmw_handle, raw_message, &taken, message_info_local); if (ret != RMW_RET_OK) { - RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), options->allocator); + RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), error_allocator); return RCL_RET_ERROR; } + RCUTILS_LOG_DEBUG_NAMED( + ROS_PACKAGE_NAME, "Subscription raw take succeeded: %s", taken ? "true" : "false") if (!taken) { return RCL_RET_SUBSCRIPTION_TAKE_FAILED; }