Merge branch 'master' into namespace_node_secure_root

rcl/include/rcl/arguments.h

@@ -242,8 +242,6 @@ rcl_remove_ros_arguments(
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param[in] error_alloc an alocator to use if an error occurs.
- *  This allocator is not used to allocate args_out.
  * \param[in] args The structure to be copied.
  *  Its allocator is used to copy memory into the new structure.
  * \param[out] args_out A zero-initialized arguments structure to be copied into.
@@ -256,7 +254,6 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_arguments_copy(
-  rcl_allocator_t error_alloc,
   const rcl_arguments_t * args,
   rcl_arguments_t * args_out);
 

rcl/include/rcl/client.h

@@ -55,7 +55,6 @@ RCL_WARN_UNUSED
 rcl_client_t
 rcl_get_zero_initialized_client(void);
 
-
 /// Initialize a rcl client.
 /**
  * After calling this function on a rcl_client_t, it can be used to send
@@ -378,7 +377,7 @@ rcl_client_get_rmw_handle(const rcl_client_t * client);
 
 /// Check that the client is valid.
 /**
- * The bool returned is `false` if client is invalid
+ * The bool returned is `false` if client is invalid.
  * The bool returned is `true` otherwise.
  * In the case where `false` is to be returned, an error message is set.
  * This function cannot fail.
@@ -392,12 +391,11 @@ rcl_client_get_rmw_handle(const rcl_client_t * client);
  * Lock-Free          | Yes
  *
  * \param[in] client pointer to the rcl client
- * \param[in] error_msg_allocator a valid allocator or `NULL`
  * \return `true` if `client` is valid, otherwise `false`
  */
 RCL_PUBLIC
 bool
-rcl_client_is_valid(const rcl_client_t * client, rcl_allocator_t * error_msg_allocator);
+rcl_client_is_valid(const rcl_client_t * client);
 
 #ifdef __cplusplus
 }

rcl/include/rcl/error_handling.h

@@ -18,44 +18,32 @@
 #include "rcutils/error_handling.h"
 
 /// The error handling in RCL is just an alias to the error handling in rcutils.
-/**
- * Allocators given to functions in rcl are passed along to the error handling
- * on a "best effort" basis.
- * In some situations, like when NULL is passed for the allocator or something
- * else that contains it, the allocator is not available to be passed to the
- * RCL_SET_ERROR_MSG macro.
- * In these cases, the default allocator rcl_get_default_allocator() is used.
- * Since these are considered fatal errors, as opposed to errors that might
- * occur during normal runtime, is should be okay to use the default allocator.
- */
 
 typedef rcutils_error_state_t rcl_error_state_t;
+typedef rcutils_error_string_t rcl_error_string_t;
 
-#define rcl_error_state_copy rcutils_error_state_copy
-
-#define rcl_error_state_fini rcutils_error_state_fini
+#define rcl_initialize_error_handling_thread_local_storage \
+  rcutils_initialize_error_handling_thread_local_storage
 
 #define rcl_set_error_state rcutils_set_error_state
 
-#define RCL_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type, allocator) \
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type, allocator)
+#define RCL_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type) \
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type)
 
-#define RCL_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement, allocator) \
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement, allocator)
+#define RCL_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement) \
+  RCUTILS_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement)
 
-#define RCL_SET_ERROR_MSG(msg, allocator) RCUTILS_SET_ERROR_MSG(msg, allocator)
+#define RCL_SET_ERROR_MSG(msg) RCUTILS_SET_ERROR_MSG(msg)
 
-#define RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(allocator, fmt_str, ...) \
-  RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(allocator, fmt_str, __VA_ARGS__)
+#define RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(fmt_str, ...) \
+  RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(fmt_str, __VA_ARGS__)
 
 #define rcl_error_is_set rcutils_error_is_set
 
 #define rcl_get_error_state rcutils_get_error_state
 
 #define rcl_get_error_string rcutils_get_error_string
 
-#define rcl_get_error_string_safe rcutils_get_error_string_safe
-
 #define rcl_reset_error rcutils_reset_error
 
 #endif  // RCL__ERROR_HANDLING_H_

rcl/include/rcl/lexer.h

@@ -87,27 +87,23 @@ typedef enum rcl_lexeme_t
  * <hr>
  * Attribute          | Adherence
  * ------------------ | -------------
- * Allocates Memory   | Yes [1]
+ * Allocates Memory   | No
  * Thread-Safe        | Yes
  * Uses Atomics       | No
  * Lock-Free          | Yes
- * <i>[1] Only allocates if an argument is invalid or an internal bug is detected.</i>
  *
  * \param[in] text The string to analyze.
- * \param[in] allocator An allocator to use if an error occurs.
  * \param[out] lexeme The type of lexeme found in the string.
  * \param[out] length The length of text in the string that constitutes the found lexeme.
  * \return `RCL_RET_OK` if analysis is successful regardless whether a valid lexeme is found, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
- * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ERROR` if an internal bug is detected.
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_lexer_analyze(
   const char * text,
-  rcl_allocator_t allocator,
   rcl_lexeme_t * lexeme,
   size_t * length);
 

rcl/include/rcl/node.h

@@ -220,8 +220,6 @@ rcl_node_get_default_options(void);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param[in] error_alloc an alocator to use if an error occurs.
- *  This allocator is not used to allocate the output.
  * \param[in] options The structure to be copied.
  *  Its allocator is used to copy memory into the new structure.
  * \param[out] options_out An options structure containing default values.
@@ -234,18 +232,13 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_node_options_copy(
-  rcl_allocator_t error_alloc,
   const rcl_node_options_t * options,
   rcl_node_options_t * options_out);
 
 /// Return `true` if the node is valid, else `false`.
 /**
  * Also return `false` if the node pointer is `NULL` or the allocator is invalid.
  *
- * The allocator needs to either be a valid allocator or `NULL`, in which case
- * the default allocator will be used.
- * The allocator is used when allocation is needed for an error message.
- *
  * A node is invalid if:
  *   - the implementation is `NULL` (rcl_node_init not called or failed)
  *   - rcl_shutdown has been called since the node has been initialized
@@ -256,7 +249,7 @@ rcl_node_options_copy(
  * Consider:
  *
  * ```c
- * assert(rcl_node_is_valid(node, NULL));  // <-- thread 1
+ * assert(rcl_node_is_valid(node));  // <-- thread 1
  * rcl_shutdown();                   // <-- thread 2
  * // use node as if valid           // <-- thread 1
  * ```
@@ -275,12 +268,11 @@ rcl_node_options_copy(
  * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
  *
  * \param[in] node rcl_node_t to be validated
- * \param[in] error_msg_allocator a valid allocator or `NULL`
  * \return `true` if the node and allocator are valid, otherwise `false`.
  */
 RCL_PUBLIC
 bool
-rcl_node_is_valid(const rcl_node_t * node, rcl_allocator_t * error_msg_allocator);
+rcl_node_is_valid(const rcl_node_t * node);
 
 /// Return the name of the node.
 /**

rcl/include/rcl/publisher.h

@@ -378,8 +378,7 @@ rcl_publisher_get_rmw_handle(const rcl_publisher_t * publisher);
 /**
  * The bool returned is `false` if `publisher` is invalid.
  * The bool returned is `true` otherwise.
- * In the case where `false` is to be returned, an
- * error message is set.
+ * In the case where `false` is to be returned, an error message is set.
  * This function cannot fail.
  *
  * <hr>
@@ -391,14 +390,11 @@ rcl_publisher_get_rmw_handle(const rcl_publisher_t * publisher);
  * Lock-Free          | Yes
  *
  * \param[in] publisher pointer to the rcl publisher
- * \param[in] error_msg_allocator a valid allocator or `NULL`
  * \return `true` if `publisher` is valid, otherwise `false`
  */
 RCL_PUBLIC
 bool
-rcl_publisher_is_valid(
-  const rcl_publisher_t * publisher,
-  rcl_allocator_t * error_msg_allocator);
+rcl_publisher_is_valid(const rcl_publisher_t * publisher);
 
 #ifdef __cplusplus
 }

rcl/include/rcl/service.h

@@ -391,8 +391,7 @@ rcl_service_get_rmw_handle(const rcl_service_t * service);
 /**
  * The bool returned is `false` if `service` is invalid.
  * The bool returned is `true` otherwise.
- * In the case where `false` is to be returned, an
- * error message is set.
+ * In the case where `false` is to be returned, an error message is set.
  * This function cannot fail.
  *
  * <hr>
@@ -404,12 +403,11 @@ rcl_service_get_rmw_handle(const rcl_service_t * service);
  * Lock-Free          | Yes
  *
  * \param[in] service pointer to the rcl service
- * \param[in] error_msg_allocator a valid allocator or `NULL`
  * \return `true` if `service` is valid, otherwise `false`
  */
 RCL_PUBLIC
 bool
-rcl_service_is_valid(const rcl_service_t * service, rcl_allocator_t * error_msg_allocator);
+rcl_service_is_valid(const rcl_service_t * service);
 
 #ifdef __cplusplus
 }

rcl/include/rcl/subscription.h

@@ -388,8 +388,7 @@ rcl_subscription_get_rmw_handle(const rcl_subscription_t * subscription);
 /**
  * The bool returned is `false` if `subscription` is invalid.
  * The bool returned is `true` otherwise.
- * In the case where `false` is to be returned, an
- * error message is set.
+ * In the case where `false` is to be returned, an error message is set.
  * This function cannot fail.
  *
  * <hr>
@@ -401,14 +400,11 @@ rcl_subscription_get_rmw_handle(const rcl_subscription_t * subscription);
  * Lock-Free          | Yes
  *
  * \param[in] subscription pointer to the rcl subscription
- * \param[in] error_msg_allocator a valid allocator or `NULL`
  * \return `true` if `subscription` is valid, otherwise `false`
  */
 RCL_PUBLIC
 bool
-rcl_subscription_is_valid(
-  const rcl_subscription_t * subscription,
-  rcl_allocator_t * error_msg_allocator);
+rcl_subscription_is_valid(const rcl_subscription_t * subscription);
 
 #ifdef __cplusplus
 }