Use RCL_RET_* codes only. (ros2#686)

Also, update documentation. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ApexAI · Jun 16, 2020 · b7dbb3e · b7dbb3e
1 parent 7723308
commit b7dbb3e
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Showing 4 changed files with 6 additions and 5 deletions.
diff --git a/rcl/include/rcl/init.h b/rcl/include/rcl/init.h
@@ -69,6 +69,7 @@ extern "C"
  * \return `RCL_RET_OK` if initialization is successful, or
  * \return `RCL_RET_ALREADY_INIT` if rcl_init has already been called, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_INVALID_ROS_ARGS` if an invalid ROS argument is found, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */

diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
@@ -188,13 +188,13 @@ rcl_init(
       "Enclave name is not valid: '%s'. Invalid index: %zu",
       rcl_enclave_name_validation_result_string(validation_result),
       invalid_index);
-    fail_ret = RMW_RET_ERROR;
+    fail_ret = RCL_RET_ERROR;
     goto fail;
   }
 
   if (!context->impl->init_options.impl->rmw_init_options.enclave) {
     RCL_SET_ERROR_MSG("failed to set context name");
-    fail_ret = RMW_RET_BAD_ALLOC;
+    fail_ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
 
@@ -204,7 +204,7 @@ rcl_init(
     context->impl->init_options.impl->rmw_init_options.enclave,
     &context->impl->allocator,
     security_options);
-  if (RMW_RET_OK != ret) {
+  if (RCL_RET_OK != ret) {
     fail_ret = ret;
     goto fail;
   }

diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -311,7 +311,7 @@ rcl_publish_serialized_message(
     if (ret == RMW_RET_BAD_ALLOC) {
       return RCL_RET_BAD_ALLOC;
     }
-    return RMW_RET_ERROR;
+    return RCL_RET_ERROR;
   }
   return RCL_RET_OK;
 }

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
@@ -42,7 +42,7 @@ rcl_get_security_options_from_environment(
 
   if (!use_security) {
     security_options->enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
-    return RMW_RET_OK;
+    return RCL_RET_OK;
   }
 
   ret = rcl_get_enforcement_policy(&security_options->enforce_security);