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Improve error checking and handling in subscription APIs. #739

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Aug 12, 2020
Merged

Improve error checking and handling in subscription APIs. #739

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11 changes: 7 additions & 4 deletions rcl/src/rcl/subscription.c
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Original file line number Diff line number Diff line change
Expand Up @@ -194,6 +194,7 @@ rcl_subscription_init(
fail:
if (subscription->impl) {
allocator->deallocate(subscription->impl, allocator->state);
subscription->impl = NULL;
}
ret = fail_ret;
// Fall through to cleanup
Expand Down Expand Up @@ -229,6 +230,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
result = RCL_RET_ERROR;
}
allocator.deallocate(subscription->impl, allocator.state);
subscription->impl = NULL;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized");
return result;
Expand Down Expand Up @@ -289,10 +291,6 @@ rcl_take_sequence(
rmw_subscription_allocation_t * allocation
)
{
// Set the sizes to zero to indicate that there are no valid messages
message_sequence->size = 0u;
message_info_sequence->size = 0u;

RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking %zu messages", count);
if (!rcl_subscription_is_valid(subscription)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
Expand All @@ -310,6 +308,10 @@ rcl_take_sequence(
return RCL_RET_INVALID_ARGUMENT;
}

// Set the sizes to zero to indicate that there are no valid messages
message_sequence->size = 0u;
message_info_sequence->size = 0u;

size_t taken = 0u;
rmw_ret_t ret = rmw_take_sequence(
subscription->impl->rmw_handle, count, message_sequence, message_info_sequence, &taken,
Expand Down Expand Up @@ -370,6 +372,7 @@ rcl_take_loaned_message(
if (!rcl_subscription_is_valid(subscription)) {
return RCL_RET_SUBSCRIPTION_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(loaned_message, RCL_RET_INVALID_ARGUMENT);
if (*loaned_message) {
RCL_SET_ERROR_MSG("loaned message is already initialized");
return RCL_RET_INVALID_ARGUMENT;
Expand Down