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Ensure rmw_destroy_node() completes despite run-time errors. #458

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Oct 1, 2020
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Ensure rmw_destroy_node() completes despite run-time errors. #458

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28 changes: 25 additions & 3 deletions rmw_fastrtps_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,12 +85,34 @@ rmw_destroy_node(rmw_node_t * node)
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

rmw_context_t * context = node->context;
rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_destroy_node(

rmw_ret_t ret = RMW_RET_OK;
rmw_error_state_t error_state;
rmw_ret_t inner_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_node(
eprosima_fastrtps_identifier, node);
if (RMW_RET_OK != ret) {
return ret;
error_state = *rmw_get_error_state();
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You don't want to log the error here as well?

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There're no errors before this one, so we can put in the local error state w/o printing.

ret = inner_ret;
rmw_reset_error();
}

inner_ret = rmw_fastrtps_shared_cpp::decrement_context_impl_ref_count(context);
if (RMW_RET_OK != inner_ret) {
if (RMW_RET_OK != ret) {
RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "'\n");
} else {
error_state = *rmw_get_error_state();
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Is there an easy way to combine the two error states should there be multiple failures?

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@hidmic hidmic Oct 1, 2020 •
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As of today, there isn't. In general, we don't handle errors during error handling and/or finalization very well or at all. I opened an issue about this: ros2/rcutils#269, to have an standard idiom for it.

For the moment, this makes sure the first error goes into the error state and any other errors that may follow do not get lost but do not obscure what is assumed to be the root cause of the error.

ret = inner_ret;
}
rmw_reset_error();
}

if (RMW_RET_OK != ret) {
rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
}
return rmw_fastrtps_shared_cpp::decrement_context_impl_ref_count(context);

return ret;
}

const rmw_guard_condition_t *
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28 changes: 25 additions & 3 deletions rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,12 +84,34 @@ rmw_destroy_node(rmw_node_t * node)
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
rmw_context_t * context = node->context;
rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_destroy_node(

rmw_ret_t ret = RMW_RET_OK;
rmw_error_state_t error_state;
rmw_ret_t inner_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_node(
eprosima_fastrtps_identifier, node);
if (RMW_RET_OK != ret) {
return ret;
error_state = *rmw_get_error_state();
ret = inner_ret;
rmw_reset_error();
}

inner_ret = rmw_fastrtps_shared_cpp::decrement_context_impl_ref_count(context);
if (RMW_RET_OK != inner_ret) {
if (RMW_RET_OK != ret) {
RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "'\n");
} else {
error_state = *rmw_get_error_state();
ret = inner_ret;
}
rmw_reset_error();
}

if (RMW_RET_OK != ret) {
rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
}
return rmw_fastrtps_shared_cpp::decrement_context_impl_ref_count(context);

return ret;
}

const rmw_guard_condition_t *
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9 changes: 3 additions & 6 deletions rmw_fastrtps_shared_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,26 +131,23 @@ __rmw_destroy_node(
rmw_node_t * node)
{
assert(node->implementation_identifier == identifier);

rmw_ret_t ret = RMW_RET_OK;
auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
rmw_dds_common::GraphCache & graph_cache = common_context->graph_cache;
{
std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
rmw_dds_common::msg::ParticipantEntitiesInfo participant_msg =
graph_cache.remove_node(common_context->gid, node->name, node->namespace_);
rmw_ret_t ret = __rmw_publish(
ret = __rmw_publish(
identifier,
common_context->pub,
static_cast<void *>(&participant_msg),
nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
}
rmw_free(const_cast<char *>(node->name));
rmw_free(const_cast<char *>(node->namespace_));
rmw_node_free(node);
return RMW_RET_OK;
return ret;
}

const rmw_guard_condition_t *
Expand Down