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Reset the error on failing to find the C typesupport #274

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merged 2 commits into from
Jan 5, 2021
Merged

Reset the error on failing to find the C typesupport #274

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f77a497
Switch to using the generic functions for the typesupport handles.
clalancette Jan 4, 2021
97124c2
Make sure to reset the error when a typesupport can't be found.
clalancette Jan 4, 2021
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82 changes: 58 additions & 24 deletions rmw_cyclonedds_cpp/src/TypeSupport2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,10 @@
#include <utility>
#include <vector>

#include "rcutils/error_handling.h"
#include "rosidl_runtime_c/message_type_support_struct.h"
#include "rosidl_runtime_c/service_type_support_struct.h"

namespace rmw_cyclonedds_cpp
{
class ROSIDLC_StructValueType : public StructValueType
Expand Down Expand Up @@ -68,47 +72,77 @@ class ROSIDLCPP_StructValueType : public StructValueType

std::unique_ptr<StructValueType> make_message_value_type(const rosidl_message_type_support_t * mts)
{
if (auto ts_c = mts->func(mts, TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::get_identifier())) {
if (auto ts_c =
get_message_typesupport_handle(
mts,
TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::get_identifier()))
{
auto members = static_cast<const MetaMessage<TypeGenerator::ROSIDL_C> *>(ts_c->data);
return std::make_unique<ROSIDLC_StructValueType>(members);
} else {
rcutils_error_string_t prev_error_string = rcutils_get_error_string();
rcutils_reset_error();

if (auto ts_cpp =
get_message_typesupport_handle(
mts,
TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::get_identifier()))
{
auto members = static_cast<const MetaMessage<TypeGenerator::ROSIDL_Cpp> *>(ts_cpp->data);
return std::make_unique<ROSIDLCPP_StructValueType>(members);
} else {
rcutils_error_string_t error_string = rcutils_get_error_string();
rcutils_reset_error();

throw std::runtime_error(
std::string("Type support not from this implementation. Got:\n") +
" " + prev_error_string.str + "\n" +
" " + error_string.str + "\n" +
"while fetching it");
}
}
if (auto ts_cpp =
mts->func(mts, TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::get_identifier()))
{
auto members = static_cast<const MetaMessage<TypeGenerator::ROSIDL_Cpp> *>(ts_cpp->data);
return std::make_unique<ROSIDLCPP_StructValueType>(members);
}
throw std::runtime_error(
"could not identify message typesupport " + std::string(mts->typesupport_identifier));
}

std::pair<std::unique_ptr<StructValueType>, std::unique_ptr<StructValueType>>
make_request_response_value_types(const rosidl_service_type_support_t * svc_ts)
{
if (auto tsc =
svc_ts->func(svc_ts, TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::get_identifier()))
get_service_typesupport_handle(
svc_ts,
TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::get_identifier()))
{
auto typed =
static_cast<const TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::MetaService *>(tsc->data);
return {
std::make_unique<ROSIDLC_StructValueType>(typed->request_members_),
std::make_unique<ROSIDLC_StructValueType>(typed->response_members_)
};
} else {
rcutils_error_string_t prev_error_string = rcutils_get_error_string();
rcutils_reset_error();

if (auto tscpp =
get_service_typesupport_handle(
svc_ts,
TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::get_identifier()))
{
auto typed =
static_cast<const TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::MetaService *>(tscpp->data);
return {
std::make_unique<ROSIDLCPP_StructValueType>(typed->request_members_),
std::make_unique<ROSIDLCPP_StructValueType>(typed->response_members_)
};
} else {
rcutils_error_string_t error_string = rcutils_get_error_string();
rcutils_reset_error();

throw std::runtime_error(
std::string("Service type support not from this implementation. Got:\n") +
" " + prev_error_string.str + "\n" +
" " + error_string.str + "\n" +
"while fetching it");
}
}

if (auto tscpp =
svc_ts->func(svc_ts, TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::get_identifier()))
{
auto typed =
static_cast<const TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::MetaService *>(tscpp->data);
return {
std::make_unique<ROSIDLCPP_StructValueType>(typed->request_members_),
std::make_unique<ROSIDLCPP_StructValueType>(typed->response_members_)
};
}

throw std::runtime_error(
"Unidentified service type support: " + std::string(svc_ts->typesupport_identifier));
}

ROSIDLC_StructValueType::ROSIDLC_StructValueType(
Expand Down