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Refactor get topic names and types #24

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Merged
merged 2 commits into from
Jun 17, 2017
Merged

Refactor get topic names and types #24

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a8fe2a3
api changes
wjwwood Jun 16, 2017
4b72cc5
improve error message for easier debugging
wjwwood Jun 16, 2017
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36 changes: 27 additions & 9 deletions rmw_implementation/src/functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,16 @@
#include <fstream>
#include <sstream>

#include "rcutils/allocator.h"
#include "rcutils/format_string.h"
#include "rcutils/types/string_array.h"

#include "Poco/SharedLibrary.h"

#include "rmw/error_handling.h"
#include "rmw/names_and_types.h"
#include "rmw/get_service_names_and_types.h"
#include "rmw/get_topic_names_and_types.h"
#include "rmw/rmw.h"

std::string get_env_var(const char * env_var)
Expand Down Expand Up @@ -141,7 +146,16 @@ get_symbol(const char * symbol_name)
return nullptr;
}
if (!lib->hasSymbol(symbol_name)) {
RMW_SET_ERROR_MSG("failed to resolve symbol in shared library of rmw implementation");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * msg = rcutils_format_string(
allocator,
"failed to resolve symbol in shared library '%s'", lib->getPath().c_str());
if (msg) {
RMW_SET_ERROR_MSG(msg);
allocator.deallocate(msg, allocator.state);
} else {
RMW_SET_ERROR_MSG("failed to allocate memory for error message")
}
return nullptr;
}
return lib->getSymbol(symbol_name);
Expand Down Expand Up @@ -452,22 +466,26 @@ rmw_wait(
rmw_ret_t
rmw_get_topic_names_and_types(
const rmw_node_t * node,
rmw_topic_names_and_types_t * topic_names_and_types)
rcutils_allocator_t * allocator,
bool no_demangle,
rmw_names_and_types_t * topic_names_and_types)
{
CALL_SYMBOL(
"rmw_get_topic_names_and_types", rmw_ret_t, RMW_RET_ERROR,
ARG_TYPES(const rmw_node_t *, rmw_topic_names_and_types_t *),
ARG_VALUES(node, topic_names_and_types));
ARG_TYPES(const rmw_node_t *, rcutils_allocator_t *, bool, rmw_names_and_types_t *),
ARG_VALUES(node, allocator, no_demangle, topic_names_and_types));
}

rmw_ret_t
rmw_destroy_topic_names_and_types(
rmw_topic_names_and_types_t * topic_names_and_types)
rmw_get_service_names_and_types(
const rmw_node_t * node,
rcutils_allocator_t * allocator,
rmw_names_and_types_t * service_names_and_types)
{
CALL_SYMBOL(
"rmw_destroy_topic_names_and_types", rmw_ret_t, RMW_RET_ERROR,
ARG_TYPES(rmw_topic_names_and_types_t *),
ARG_VALUES(topic_names_and_types));
"rmw_get_service_names_and_types", rmw_ret_t, RMW_RET_ERROR,
ARG_TYPES(const rmw_node_t *, rcutils_allocator_t *, rmw_names_and_types_t *),
ARG_VALUES(node, allocator, service_names_and_types));
}

rmw_ret_t
Expand Down