Update graph API return codes. (#436)

This patch affects: - rmw_get_node_names() - rmw_get_node_names_with_enclaves() - rmw_get_topic_names_and_types() - rmw_get_service_names_and_types() - rmw_get_publishers_info_by_topic() - rmw_get_subscriptions_info_by_topic() - rmw_get_subscriber_names_and_types_by_node() - rmw_get_publisher_names_and_types_by_node() - rmw_get_service_names_and_types_by_node() - rmw_get_client_names_and_types_by_node() - rmw_count_publishers() - rmw_count_subscribers() Signed-off-by: Michel Hidalgo <[email protected]>
ros2 · Oct 15, 2020 · 585366d · 585366d
1 parent f77506a
commit 585366d
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Showing 6 changed files with 122 additions and 150 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_count.cpp b/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
@@ -21,8 +21,10 @@
 #include "rcutils/logging_macros.h"
 
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
+#include "rmw/validate_full_topic_name.h"
 
 #include "rmw_dds_common/context.hpp"
 
@@ -41,14 +43,24 @@ __rmw_count_publishers(
   const char * topic_name,
   size_t * count)
 {
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_INVALID_ARGUMENT;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  int validation_result = RMW_TOPIC_VALID;
+  rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
   }
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
+  if (RMW_TOPIC_VALID != validation_result) {
+    const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
     return RMW_RET_INVALID_ARGUMENT;
   }
+  RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
   const std::string mangled_topic_name =
     _mangle_topic_name(ros_topic_prefix, topic_name).to_string();
@@ -62,14 +74,24 @@ __rmw_count_subscribers(
   const char * topic_name,
   size_t * count)
 {
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_INVALID_ARGUMENT;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  int validation_result = RMW_TOPIC_VALID;
+  rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
   }
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
+  if (RMW_TOPIC_VALID != validation_result) {
+    const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
     return RMW_RET_INVALID_ARGUMENT;
   }
+  RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
   const std::string mangled_topic_name =
     _mangle_topic_name(ros_topic_prefix, topic_name).to_string();

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -18,6 +18,7 @@
 #include <tuple>
 #include <vector>
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
 #include "rmw/topic_endpoint_info_array.h"
@@ -35,49 +36,28 @@
 namespace rmw_fastrtps_shared_cpp
 {
 
-rmw_ret_t
-_validate_params(
+static rmw_ret_t __validate_arguments(
   const char * identifier,
   const rmw_node_t * node,
   rcutils_allocator_t * allocator,
   const char * topic_name,
   rmw_topic_endpoint_info_array_t * participants_info)
 {
-  if (!identifier) {
-    RMW_SET_ERROR_MSG("null implementation identifier provided");
-    return RMW_RET_ERROR;
-  }
-
-  if (!topic_name) {
-    RMW_SET_ERROR_MSG("null topic_name provided");
-    return RMW_RET_ERROR;
-  }
-
-  if (!allocator) {
-    RMW_SET_ERROR_MSG("null allocator provided");
-    return RMW_RET_ERROR;
-  }
-
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_ERROR;
-  }
-
-  // Get participant pointer from node
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
-
-  if (!participants_info) {
-    RMW_SET_ERROR_MSG("null participants_info provided");
-    return RMW_RET_ERROR;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(participants_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
-
   return RMW_RET_OK;
 }
 
-
 rmw_ret_t
 __rmw_get_publishers_info_by_topic(
   const char * identifier,
@@ -87,7 +67,7 @@ __rmw_get_publishers_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * publishers_info)
 {
-  rmw_ret_t ret = _validate_params(
+  rmw_ret_t ret = __validate_arguments(
     identifier,
     node,
     allocator,
@@ -120,7 +100,7 @@ __rmw_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info)
 {
-  rmw_ret_t ret = _validate_params(
+  rmw_ret_t ret = __validate_arguments(
     identifier,
     node,
     allocator,

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
@@ -32,6 +32,8 @@
 #include "rmw/impl/cpp/macros.hpp"
 #include "rmw/names_and_types.h"
 #include "rmw/rmw.h"
+#include "rmw/validate_namespace.h"
+#include "rmw/validate_node_name.h"
 
 #include "rmw_dds_common/context.hpp"
 
@@ -45,53 +47,6 @@
 namespace rmw_fastrtps_shared_cpp
 {
 
-/**
- * Validate the input data of node_info_and_types functions.
- *
- * \return RMW_RET_INVALID_ARGUMENT for null input args
- * \return RMW_RET_ERROR if identifier is not the same as the input node
- * \return RMW_RET_OK if all input is valid
- */
-rmw_ret_t __validate_input(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * node_name,
-  const char * node_namespace,
-  rmw_names_and_types_t * topic_names_and_types)
-{
-  if (!allocator) {
-    RMW_SET_ERROR_MSG("allocator is null");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
-
-  if (!node_name) {
-    RMW_SET_ERROR_MSG("null node name");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
-
-  if (!node_namespace) {
-    RMW_SET_ERROR_MSG("null node namespace");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
-
-  rmw_ret_t ret = rmw_names_and_types_check_zero(topic_names_and_types);
-  if (ret != RMW_RET_OK) {
-    return ret;
-  }
-
-  // Get participant pointer from node
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
-  return RMW_RET_OK;
-}
-
 using GetNamesAndTypesByNodeFunction = rmw_ret_t (*)(
   rmw_dds_common::Context *,
   const std::string &,
@@ -114,10 +69,37 @@ __rmw_get_topic_names_and_types_by_node(
   GetNamesAndTypesByNodeFunction get_names_and_types_by_node,
   rmw_names_and_types_t * topic_names_and_types)
 {
-  rmw_ret_t valid_input = __validate_input(
-    identifier, node, allocator, node_name, node_namespace, topic_names_and_types);
-  if (valid_input != RMW_RET_OK) {
-    return valid_input;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  int validation_result = RMW_NODE_NAME_VALID;
+  rmw_ret_t ret = rmw_validate_node_name(node_name, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+  if (RMW_NODE_NAME_VALID != validation_result) {
+    const char * reason = rmw_node_name_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_name argument is invalid: %s", reason);
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  validation_result = RMW_NAMESPACE_VALID;
+  ret = rmw_validate_namespace(node_namespace, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+  if (RMW_NAMESPACE_VALID != validation_result) {
+    const char * reason = rmw_namespace_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_namespace argument is invalid: %s", reason);
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  ret = rmw_names_and_types_check_zero(topic_names_and_types);
+  if (RMW_RET_OK != ret) {
+    return ret;
   }
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
 

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node_names.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node_names.cpp
@@ -24,6 +24,7 @@
 #include "rmw/allocators.h"
 #include "rmw/convert_rcutils_ret_to_rmw_ret.h"
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 #include "rmw/sanity_checks.h"
 
@@ -44,19 +45,17 @@ __rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces)
 {
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_ERROR;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
-  if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK) {
-    return RMW_RET_ERROR;
-  }
-  if (rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK) {
-    return RMW_RET_ERROR;
-  }
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
@@ -76,22 +75,20 @@ __rmw_get_node_names_with_enclaves(
   rcutils_string_array_t * node_namespaces,
   rcutils_string_array_t * enclaves)
 {
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_ERROR;
-  }
-  if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK) {
-    return RMW_RET_ERROR;
-  }
-  if (rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK) {
-    return RMW_RET_ERROR;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
-  if (rmw_check_zero_rmw_string_array(enclaves) != RMW_RET_OK) {
-    return RMW_RET_ERROR;
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(enclaves)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp
@@ -20,6 +20,7 @@
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/get_service_names_and_types.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/names_and_types.h"
 #include "rmw/types.h"
 
@@ -40,22 +41,17 @@ __rmw_get_service_names_and_types(
   rcutils_allocator_t * allocator,
   rmw_names_and_types_t * service_names_and_types)
 {
-  if (!allocator) {
-    RMW_SET_ERROR_MSG("allocator is null");
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_names_and_types_check_zero(service_names_and_types)) {
     return RMW_RET_INVALID_ARGUMENT;
   }
-  if (!node) {
-    RMW_SET_ERROR_MSG("null node handle");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
-  rmw_ret_t ret = rmw_names_and_types_check_zero(service_names_and_types);
-  if (ret != RMW_RET_OK) {
-    return ret;
-  }
-  if (node->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("node handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
 
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);