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check return value of remaining rmw function calls #57

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Jul 17, 2015
Merged

check return value of remaining rmw function calls #57

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20 changes: 16 additions & 4 deletions rclcpp/include/rclcpp/executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,10 @@ class Executor
}
weak_nodes_.push_back(node_ptr);
// Interrupt waiting to handle new node
rmw_trigger_guard_condition(interrupt_guard_condition_);
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
}

virtual void
Expand All @@ -90,7 +93,10 @@ class Executor
}));
// If the node was matched and removed, interrupt waiting
if (node_removed) {
rmw_trigger_guard_condition(interrupt_guard_condition_);
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
}
}

Expand Down Expand Up @@ -148,7 +154,10 @@ class Executor
any_exec->callback_group->can_be_taken_from_.store(true);
// Wake the wait, because it may need to be recalculated or work that
// was previously blocked is now available.
rmw_trigger_guard_condition(interrupt_guard_condition_);
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
}

static void
Expand Down Expand Up @@ -351,12 +360,15 @@ class Executor
}

// Now wait on the waitable subscriptions and timers
rmw_wait(
rmw_ret_t status = rmw_wait(
&subscriber_handles,
&guard_condition_handles,
&service_handles,
&client_handles,
nonblocking);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
// If ctrl-c guard condition, return directly
if (guard_condition_handles.guard_conditions[0] != 0) {
// Make sure to free or clean memory
Expand Down