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Use new error handling API from rcutils
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Fix #428
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Minggang Wang committed Nov 5, 2018
1 parent bfa98ec commit c1229b7
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Showing 3 changed files with 42 additions and 42 deletions.
10 changes: 5 additions & 5 deletions src/executor.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ void Executor::Run(void* arg) {
rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
throw std::runtime_error(std::string("Init waitset failed: ") +
rcl_get_error_string_safe());
rcl_get_error_string().str);
}

while (executor->running_.load()) {
Expand All @@ -117,7 +117,7 @@ void Executor::Run(void* arg) {
handle_manager->client_count(),
handle_manager->service_count()) != RCL_RET_OK) {
std::string error_message = std::string("Failed to resize: ")
+ std::string(rcl_get_error_string_safe());
+ std::string(rcl_get_error_string().str);
throw std::runtime_error(error_message);
}

Expand All @@ -129,7 +129,7 @@ void Executor::Run(void* arg) {
if (status == RCL_RET_WAIT_SET_EMPTY) {
} else if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT) {
throw std::runtime_error(std::string("rcl_wait() failed: ") +
rcl_get_error_string_safe());
rcl_get_error_string().str);
} else {
if (!uv_is_closing(
reinterpret_cast<uv_handle_t*>(executor->async_))) {
Expand All @@ -139,14 +139,14 @@ void Executor::Run(void* arg) {

if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) {
std::string error_message = std::string("Failed to clear wait set: ")
+ std::string(rcl_get_error_string_safe());
+ std::string(rcl_get_error_string().str);
throw std::runtime_error(error_message);
}
}
}
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
throw std::runtime_error(std::string("Failed to destroy guard waitset:") +
rcl_get_error_string_safe());
rcl_get_error_string().str);
}
} catch (...) {
g_exception_ptr = std::current_exception();
Expand Down
72 changes: 36 additions & 36 deletions src/rcl_bindings.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ std::unique_ptr<rmw_qos_profile_t> GetQoSProfile(v8::Local<v8::Value> qos);
NAN_METHOD(Init) {
THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_init(0, nullptr, rcl_get_default_allocator()),
rcl_get_error_string_safe());
rcl_get_error_string().str);
}

NAN_METHOD(CreateNode) {
Expand All @@ -57,7 +57,7 @@ NAN_METHOD(CreateNode) {
THROW_ERROR_IF_NOT_EQUAL(
RCL_RET_OK,
rcl_node_init(node, node_name.c_str(), name_space.c_str(), &options),
rcl_get_error_string_safe());
rcl_get_error_string().str);

auto handle = RclHandle::NewInstance(node, nullptr,
[node] { return rcl_node_fini(node); });
Expand All @@ -76,11 +76,11 @@ NAN_METHOD(CreateTimer) {
rcl_clock_init(RCL_STEADY_TIME,
clock,
&allocator),
rcl_get_error_string_safe());
rcl_get_error_string().str);
THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_timer_init(timer, clock, RCL_MS_TO_NS(period_ms),
nullptr, rcl_get_default_allocator()),
rcl_get_error_string_safe());
rcl_get_error_string().str);

auto js_obj = RclHandle::NewInstance(
timer, nullptr, [timer, clock] {
Expand All @@ -98,7 +98,7 @@ NAN_METHOD(IsTimerReady) {
bool is_ready = false;

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, rcl_timer_is_ready(timer, &is_ready),
rcl_get_error_string_safe());
rcl_get_error_string().str);

info.GetReturnValue().Set(Nan::New(is_ready));
}
Expand All @@ -108,15 +108,15 @@ NAN_METHOD(CallTimer) {
rcl_timer_t* timer = reinterpret_cast<rcl_timer_t*>(timer_handle->ptr());

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, rcl_timer_call(timer),
rcl_get_error_string_safe());
rcl_get_error_string().str);
}

NAN_METHOD(CancelTimer) {
RclHandle* timer_handle = RclHandle::Unwrap<RclHandle>(info[0]->ToObject());
rcl_timer_t* timer = reinterpret_cast<rcl_timer_t*>(timer_handle->ptr());

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, rcl_timer_cancel(timer),
rcl_get_error_string_safe());
rcl_get_error_string().str);
}

NAN_METHOD(IsTimerCanceled) {
Expand All @@ -126,7 +126,7 @@ NAN_METHOD(IsTimerCanceled) {

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_timer_is_canceled(timer, &is_canceled),
rcl_get_error_string_safe());
rcl_get_error_string().str);

info.GetReturnValue().Set(Nan::New(is_canceled));
}
Expand All @@ -136,7 +136,7 @@ NAN_METHOD(ResetTimer) {
rcl_timer_t* timer = reinterpret_cast<rcl_timer_t*>(timer_handle->ptr());

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, rcl_timer_reset(timer),
rcl_get_error_string_safe());
rcl_get_error_string().str);
}

NAN_METHOD(TimerGetTimeUntilNextCall) {
Expand All @@ -146,7 +146,7 @@ NAN_METHOD(TimerGetTimeUntilNextCall) {

THROW_ERROR_IF_NOT_EQUAL(
RCL_RET_OK, rcl_timer_get_time_until_next_call(timer, &remaining_time),
rcl_get_error_string_safe());
rcl_get_error_string().str);

info.GetReturnValue().Set(
Nan::New<v8::String>(std::to_string(RCL_NS_TO_MS(remaining_time)))
Expand All @@ -160,7 +160,7 @@ NAN_METHOD(TimerGetTimeSinceLastCall) {

THROW_ERROR_IF_NOT_EQUAL(
RCL_RET_OK, rcl_timer_get_time_since_last_call(timer, &elapsed_time),
rcl_get_error_string_safe());
rcl_get_error_string().str);

info.GetReturnValue().Set(
Nan::New<v8::String>(std::to_string(RCL_NS_TO_MS(elapsed_time)))
Expand Down Expand Up @@ -205,7 +205,7 @@ NAN_METHOD(CreateClock) {

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_clock_init(clock_type, clock, &allocator),
rcl_get_error_string_safe());
rcl_get_error_string().str);

info.GetReturnValue().Set(RclHandle::NewInstance(clock,
nullptr,
Expand Down Expand Up @@ -242,7 +242,7 @@ NAN_METHOD(ClockGetNow) {

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_clock_get_now(ros_clock, &rcl_time.nanoseconds),
rcl_get_error_string_safe());
rcl_get_error_string().str);

ReturnJSTimeObj(info, rcl_time.nanoseconds, rcl_time.clock_type);
}
Expand All @@ -263,15 +263,15 @@ NAN_METHOD(StaticClockGetNow) {
rcl_clock_init(static_cast<rcl_clock_type_t>(type),
&ros_clock,
&allocator),
rcl_get_error_string_safe());
rcl_get_error_string().str);

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_clock_get_now(&ros_clock, &rcl_time.nanoseconds),
rcl_get_error_string_safe());
rcl_get_error_string().str);

THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
rcl_clock_fini(&ros_clock),
rcl_get_error_string_safe());
rcl_get_error_string().str);

ReturnJSTimeObj(info, rcl_time.nanoseconds, rcl_time.clock_type);
}
Expand Down Expand Up @@ -314,7 +314,7 @@ NAN_METHOD(RclTake) {
rcl_ret_t ret = rcl_take(subscription, msg_taken, nullptr);

if (ret != RCL_RET_OK && ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
Nan::ThrowError(rcl_get_error_string_safe());
Nan::ThrowError(rcl_get_error_string().str);
rcl_reset_error();
info.GetReturnValue().Set(Nan::False());
return;
Expand Down Expand Up @@ -355,7 +355,7 @@ NAN_METHOD(CreateSubscription) {
RCL_RET_OK,
rcl_subscription_init(subscription, node, ts, topic.c_str(),
&subscription_ops),
rcl_get_error_string_safe());
rcl_get_error_string().str);

auto js_obj =
RclHandle::NewInstance(subscription, node_handle, [subscription, node] {
Expand Down Expand Up @@ -397,7 +397,7 @@ NAN_METHOD(CreatePublisher) {
// Initialize the publisher
THROW_ERROR_IF_NOT_EQUAL(
rcl_publisher_init(publisher, node, ts, topic.c_str(), &publisher_ops),
RCL_RET_OK, rcl_get_error_string_safe());
RCL_RET_OK, rcl_get_error_string().str);

// Wrap the handle into JS object
auto js_obj = RclHandle::NewInstance(
Expand All @@ -417,7 +417,7 @@ NAN_METHOD(Publish) {

void* buffer = node::Buffer::Data(info[1]->ToObject());
THROW_ERROR_IF_NOT_EQUAL(rcl_publish(publisher, buffer), RCL_RET_OK,
rcl_get_error_string_safe());
rcl_get_error_string().str);

info.GetReturnValue().Set(Nan::Undefined());
}
Expand Down Expand Up @@ -445,7 +445,7 @@ NAN_METHOD(CreateClient) {

THROW_ERROR_IF_NOT_EQUAL(
rcl_client_init(client, node, ts, service_name.c_str(), &client_ops),
RCL_RET_OK, rcl_get_error_string_safe());
RCL_RET_OK, rcl_get_error_string().str);

auto js_obj = RclHandle::NewInstance(client, node_handle, [client, node] {
return rcl_client_fini(client, node);
Expand All @@ -464,7 +464,7 @@ NAN_METHOD(SendRequest) {
int64_t sequence_number;

THROW_ERROR_IF_NOT_EQUAL(rcl_send_request(client, buffer, &sequence_number),
RCL_RET_OK, rcl_get_error_string_safe());
RCL_RET_OK, rcl_get_error_string().str);

info.GetReturnValue().Set(Nan::New((uint32_t)sequence_number));
}
Expand Down Expand Up @@ -514,7 +514,7 @@ NAN_METHOD(CreateService) {

THROW_ERROR_IF_NOT_EQUAL(
rcl_service_init(service, node, ts, service_name.c_str(), &service_ops),
RCL_RET_OK, rcl_get_error_string_safe());
RCL_RET_OK, rcl_get_error_string().str);
auto js_obj = RclHandle::NewInstance(service, node_handle, [service, node] {
return rcl_service_fini(service, node);
});
Expand Down Expand Up @@ -551,7 +551,7 @@ NAN_METHOD(SendResponse) {
RclHandle::Unwrap<RclHandle>(info[2]->ToObject())->ptr());

THROW_ERROR_IF_NOT_EQUAL(rcl_send_response(service, header, buffer),
RCL_RET_OK, rcl_get_error_string_safe());
RCL_RET_OK, rcl_get_error_string().str);
}

NAN_METHOD(ValidateFullTopicName) {
Expand All @@ -563,7 +563,7 @@ NAN_METHOD(ValidateFullTopicName) {

if (ret != RMW_RET_OK) {
if (ret == RMW_RET_BAD_ALLOC) {
Nan::ThrowError(rmw_get_error_string_safe());
Nan::ThrowError(rmw_get_error_string().str);
}
rmw_reset_error();
return info.GetReturnValue().Set(Nan::Undefined());
Expand Down Expand Up @@ -596,7 +596,7 @@ NAN_METHOD(ValidateNodeName) {

if (ret != RMW_RET_OK) {
if (ret == RMW_RET_BAD_ALLOC) {
Nan::ThrowError(rmw_get_error_string_safe());
Nan::ThrowError(rmw_get_error_string().str);
}
rmw_reset_error();
return info.GetReturnValue().Set(Nan::Undefined());
Expand Down Expand Up @@ -629,7 +629,7 @@ NAN_METHOD(ValidateTopicName) {

if (ret != RMW_RET_OK) {
if (ret == RMW_RET_BAD_ALLOC) {
Nan::ThrowError(rmw_get_error_string_safe());
Nan::ThrowError(rmw_get_error_string().str);
}
rmw_reset_error();
return info.GetReturnValue().Set(Nan::Undefined());
Expand Down Expand Up @@ -662,7 +662,7 @@ NAN_METHOD(ValidateNamespace) {

if (ret != RMW_RET_OK) {
if (ret == RMW_RET_BAD_ALLOC) {
Nan::ThrowError(rmw_get_error_string_safe());
Nan::ThrowError(rmw_get_error_string().str);
}
rmw_reset_error();
return info.GetReturnValue().Set(Nan::Undefined());
Expand Down Expand Up @@ -701,7 +701,7 @@ NAN_METHOD(ExpandTopicName) {
rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
if (rcutils_ret != RCUTILS_RET_OK) {
if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
Nan::ThrowError(rcutils_get_error_string_safe());
Nan::ThrowError(rcutils_get_error_string().str);
}
rcutils_reset_error();
info.GetReturnValue().Set(Nan::Undefined());
Expand All @@ -710,13 +710,13 @@ NAN_METHOD(ExpandTopicName) {
rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_BAD_ALLOC) {
Nan::ThrowError(rcl_get_error_string_safe());
Nan::ThrowError(rcl_get_error_string().str);
}
rcl_reset_error();

rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
Nan::ThrowError(rcutils_get_error_string_safe());
Nan::ThrowError(rcutils_get_error_string().str);
rcutils_reset_error();
}
info.GetReturnValue().Set(Nan::Undefined());
Expand All @@ -729,14 +729,14 @@ NAN_METHOD(ExpandTopicName) {

rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
Nan::ThrowError(rcutils_get_error_string_safe());
Nan::ThrowError(rcutils_get_error_string().str);
rcutils_reset_error();
allocator.deallocate(expanded_topic, allocator.state);
info.GetReturnValue().Set(Nan::Undefined());
return;
}
if (ret != RCL_RET_OK) {
Nan::ThrowError(rcl_get_error_string_safe());
Nan::ThrowError(rcl_get_error_string().str);
rcl_reset_error();
info.GetReturnValue().Set(Nan::Undefined());
return;
Expand Down Expand Up @@ -832,7 +832,7 @@ std::unique_ptr<rmw_qos_profile_t> GetQoSProfile(v8::Local<v8::Value> qos) {

NAN_METHOD(Shutdown) {
THROW_ERROR_IF_NOT_EQUAL(rcl_shutdown(), RCL_RET_OK,
rcl_get_error_string_safe());
rcl_get_error_string().str);
info.GetReturnValue().Set(Nan::Undefined());
}

Expand Down Expand Up @@ -894,7 +894,7 @@ NAN_METHOD(setLoggerLevel) {

rcutils_ret_t ret = rcutils_logging_set_logger_level(name.c_str(), level);
if (ret != RCUTILS_RET_OK) {
Nan::ThrowError(rcutils_get_error_string_safe());
Nan::ThrowError(rcutils_get_error_string().str);
rcutils_reset_error();
}
info.GetReturnValue().Set(Nan::Undefined());
Expand All @@ -905,7 +905,7 @@ NAN_METHOD(GetLoggerEffectiveLevel) {
int logger_level = rcutils_logging_get_logger_effective_level(name.c_str());

if (logger_level < 0) {
Nan::ThrowError(rcutils_get_error_string_safe());
Nan::ThrowError(rcutils_get_error_string().str);
rcutils_reset_error();
info.GetReturnValue().Set(Nan::Undefined());
return;
Expand Down
2 changes: 1 addition & 1 deletion src/rcl_handle.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@ void RclHandle::Reset() {
}

if (deleter_ && deleter_() != RCL_RET_OK) {
Nan::ThrowError(rcl_get_error_string_safe());
Nan::ThrowError(rcl_get_error_string().str);
rcl_reset_error();
}
free(pointer_);
Expand Down

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