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Fini Action Server and Client when node context is invalid + reset error #346

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merged 1 commit into from
Dec 1, 2018
Merged

Fini Action Server and Client when node context is invalid + reset error #346

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7 changes: 6 additions & 1 deletion rcl_action/src/rcl_action/action_client.c
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Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node)
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID; // error already set
}
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid_except_context(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
rcl_ret_t ret = RCL_RET_OK;
Expand Down Expand Up @@ -396,22 +396,27 @@ rcl_action_client_is_valid(const rcl_action_client_t * action_client)
RCL_CHECK_FOR_NULL_WITH_MSG(
action_client->impl, "action client implementation is invalid", return false);
if (!rcl_client_is_valid(&action_client->impl->goal_client)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("goal client is invalid");
return false;
}
if (!rcl_client_is_valid(&action_client->impl->cancel_client)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("cancel client is invalid");
return false;
}
if (!rcl_client_is_valid(&action_client->impl->result_client)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("result client is invalid");
return false;
}
if (!rcl_subscription_is_valid(&action_client->impl->feedback_subscription)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("feedback subscription is invalid");
return false;
}
if (!rcl_subscription_is_valid(&action_client->impl->status_subscription)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("status subscription is invalid");
return false;
}
Expand Down
7 changes: 6 additions & 1 deletion rcl_action/src/rcl_action/action_server.c
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Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,7 @@ rcl_ret_t
rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node)
{
RCL_CHECK_ARGUMENT_FOR_NULL(action_server, RCL_RET_ACTION_SERVER_INVALID);
if (!rcl_node_is_valid(node)) {
if (!rcl_node_is_valid_except_context(node)) {
return RCL_RET_NODE_INVALID; // error already set
}

Expand Down Expand Up @@ -787,22 +787,27 @@ rcl_action_server_is_valid(const rcl_action_server_t * action_server)
RCL_CHECK_FOR_NULL_WITH_MSG(
action_server->impl, "action server implementation is invalid", return false);
if (!rcl_service_is_valid(&action_server->impl->goal_service)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("goal service is invalid");
return false;
}
if (!rcl_service_is_valid(&action_server->impl->cancel_service)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("cancel service is invalid");
return false;
}
if (!rcl_service_is_valid(&action_server->impl->result_service)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("result service is invalid");
return false;
}
if (!rcl_publisher_is_valid(&action_server->impl->feedback_publisher)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("feedback publisher is invalid");
return false;
}
if (!rcl_publisher_is_valid(&action_server->impl->status_publisher)) {
rcl_reset_error();
RCL_SET_ERROR_MSG("status publisher is invalid");
return false;
}
Expand Down