From 0c02c8d2749094a18266e38170022b8661095a5c Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Tue, 25 Aug 2020 17:23:47 -0300
Subject: [PATCH] Yield rcl_context_fini() error codes. (#763)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rcl/src/rcl/context.c      | 25 +++++++++++++++++--------
 rcl/src/rcl/context_impl.h |  2 +-
 2 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
index b400c09ef..9c7b90ce2 100644
--- a/rcl/src/rcl/context.c
+++ b/rcl/src/rcl/context.c
@@ -21,6 +21,7 @@ extern "C"
 
 #include <stdbool.h>
 
+#include "./common.h"
 #include "./context_impl.h"
 #include "rcutils/stdatomic_helper.h"
 
@@ -56,8 +57,7 @@ rcl_context_fini(rcl_context_t * context)
   }
   RCL_CHECK_ALLOCATOR_WITH_MSG(
     &(context->impl->allocator), "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
-  __cleanup_context(context);
-  return RCL_RET_OK;
+  return __cleanup_context(context);
 }
 
 // See `rcl_shutdown()` for invalidation of the context.
@@ -92,15 +92,16 @@ rcl_context_get_rmw_context(rcl_context_t * context)
   return &(context->impl->rmw_context);
 }
 
-void
+rcl_ret_t
 __cleanup_context(rcl_context_t * context)
 {
+  rcl_ret_t ret = RCL_RET_OK;
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
   rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
 
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
-    rcl_ret_t ret = rcl_arguments_fini(&(context->global_arguments));
+    ret = rcl_arguments_fini(&(context->global_arguments));
     if (RCL_RET_OK != ret) {
       RCUTILS_SAFE_FWRITE_TO_STDERR(
         "[rcl|context.c:" RCUTILS_STRINGIFY(__LINE__)
@@ -118,8 +119,11 @@ __cleanup_context(rcl_context_t * context)
 
     // finalize init options if valid
     if (NULL != context->impl->init_options.impl) {
-      rcl_ret_t ret = rcl_init_options_fini(&(context->impl->init_options));
-      if (RCL_RET_OK != ret) {
+      rcl_ret_t init_options_fini_ret = rcl_init_options_fini(&(context->impl->init_options));
+      if (RCL_RET_OK != init_options_fini_ret) {
+        if (RCL_RET_OK == ret) {
+          ret = init_options_fini_ret;
+        }
         RCUTILS_SAFE_FWRITE_TO_STDERR(
           "[rcl|context.c:" RCUTILS_STRINGIFY(__LINE__)
           "] failed to finalize init options while cleaning up context, memory may be leaked: ");
@@ -131,8 +135,11 @@ __cleanup_context(rcl_context_t * context)
 
     // clean up rmw_context
     if (NULL != context->impl->rmw_context.implementation_identifier) {
-      rmw_ret_t rmw_ret = rmw_context_fini(&(context->impl->rmw_context));
-      if (RMW_RET_OK != rmw_ret) {
+      rmw_ret_t rmw_context_fini_ret = rmw_context_fini(&(context->impl->rmw_context));
+      if (RMW_RET_OK != rmw_context_fini_ret) {
+        if (RCL_RET_OK == ret) {
+          ret = rcl_convert_rmw_ret_to_rcl_ret(rmw_context_fini_ret);
+        }
         RCUTILS_SAFE_FWRITE_TO_STDERR(
           "[rcl|context.c:" RCUTILS_STRINGIFY(__LINE__)
           "] failed to finalize rmw context while cleaning up context, memory may be leaked: ");
@@ -157,6 +164,8 @@ __cleanup_context(rcl_context_t * context)
 
   // zero-initialize the context
   *context = rcl_get_zero_initialized_context();
+
+  return ret;
 }
 
 #ifdef __cplusplus
diff --git a/rcl/src/rcl/context_impl.h b/rcl/src/rcl/context_impl.h
index 79741e31d..08403c08f 100644
--- a/rcl/src/rcl/context_impl.h
+++ b/rcl/src/rcl/context_impl.h
@@ -41,7 +41,7 @@ typedef struct rcl_context_impl_t
 } rcl_context_impl_t;
 
 RCL_LOCAL
-void
+rcl_ret_t
 __cleanup_context(rcl_context_t * context);
 
 #ifdef __cplusplus