From 1e8a03253ff1f59f8897b9c730c68ca87b4e9d8e Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten@openrobotics.org>
Date: Mon, 14 Oct 2019 09:12:16 -0700
Subject: [PATCH] use RMW_RET_UNSUPPORTED

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
---
 rmw_fastrtps_cpp/src/rmw_publish.cpp           | 2 +-
 rmw_fastrtps_cpp/src/rmw_publisher.cpp         | 7 ++++---
 rmw_fastrtps_cpp/src/rmw_take.cpp              | 6 +++---
 rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp   | 2 +-
 rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp | 7 ++++---
 rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp      | 6 +++---
 6 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
index 3715e925a..f51354ced 100644
--- a/rmw_fastrtps_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -56,6 +56,6 @@ rmw_publish_loaned_message(
   (void) allocation;
 
   RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_fastrtps_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index c079015f2..65481e8bb 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -271,7 +271,8 @@ rmw_borrow_loaned_message(
   (void) type_support;
   (void) ros_message;
 
-  return RMW_RET_ERROR;
+  RMW_SET_ERROR_MSG("rmw_borrow_loaned_message not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
@@ -282,8 +283,8 @@ rmw_return_loaned_message(
   (void) publisher;
   (void) loaned_message;
 
-  RMW_SET_ERROR_MSG("fastrtps currently doesn't support loaned messages");
-  return RMW_RET_ERROR;
+  RMW_SET_ERROR_MSG("rmw_return_loaned_message not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
index 87b1fb9ad..5e49fd846 100644
--- a/rmw_fastrtps_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -83,7 +83,7 @@ rmw_take_loaned_message(
   (void) allocation;
 
   RMW_SET_ERROR_MSG("rmw_take_loaned_message not implemented for rmw_fastrtps_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
@@ -101,7 +101,7 @@ rmw_take_loaned_message_with_info(
   (void) allocation;
 
   RMW_SET_ERROR_MSG("rmw_take_loaned_message_with_info not implemented for rmw_fastrtps_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
@@ -113,7 +113,7 @@ rmw_release_loaned_message(
   (void) loaned_message;
 
   RMW_SET_ERROR_MSG("rmw_release_loaned_message_with_info not implemented for rmw_fastrtps_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
index 8a0e8db1a..a9d09e3b2 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
@@ -46,7 +46,7 @@ rmw_publish_loaned_message(
   (void) allocation;
 
   RMW_SET_ERROR_MSG("rmw_publish_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index eeabdc394..b0ddb6e47 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -267,7 +267,8 @@ rmw_borrow_loaned_message(
   (void) type_support;
   (void) ros_message;
 
-  return RMW_RET_ERROR;
+  RMW_SET_ERROR_MSG("rmw_borrow_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
@@ -278,8 +279,8 @@ rmw_return_loaned_message(
   (void) publisher;
   (void) loaned_message;
 
-  RMW_SET_ERROR_MSG("fastrtps-dynamic currently doesn't support loaned messages");
-  return RMW_RET_ERROR;
+  RMW_SET_ERROR_MSG("rmw_return_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
index 566f4450e..8c305527c 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
@@ -83,7 +83,7 @@ rmw_take_loaned_message(
   (void) allocation;
 
   RMW_SET_ERROR_MSG("rmw_take_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
@@ -102,7 +102,7 @@ rmw_take_loaned_message_with_info(
 
   RMW_SET_ERROR_MSG(
     "rmw_take_loaned_message_with_info is not implemented for rmw_fastrtps_dynamic_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t
@@ -114,7 +114,7 @@ rmw_release_loaned_message(
   (void) loaned_message;
 
   RMW_SET_ERROR_MSG("rmw_release_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
-  return RMW_RET_ERROR;
+  return RMW_RET_UNSUPPORTED;
 }
 
 rmw_ret_t