From f8aeaab973631c8ac59549a7473e4eb48eb2a0ec Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Mon, 15 Jun 2020 11:34:38 -0300
Subject: [PATCH] Use RCL_RET_* codes only.

Also, update documentation.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rcl/include/rcl/init.h  | 1 +
 rcl/src/rcl/init.c      | 6 +++---
 rcl/src/rcl/publisher.c | 2 +-
 rcl/src/rcl/security.c  | 2 +-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/rcl/include/rcl/init.h b/rcl/include/rcl/init.h
index 315bc4ba0..42b07b5f0 100644
--- a/rcl/include/rcl/init.h
+++ b/rcl/include/rcl/init.h
@@ -69,6 +69,7 @@ extern "C"
  * \return `RCL_RET_OK` if initialization is successful, or
  * \return `RCL_RET_ALREADY_INIT` if rcl_init has already been called, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_INVALID_ROS_ARGS` if an invalid ROS argument is found, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index a18f675bb..0cb92bb2f 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -188,13 +188,13 @@ rcl_init(
       "Enclave name is not valid: '%s'. Invalid index: %zu",
       rcl_enclave_name_validation_result_string(validation_result),
       invalid_index);
-    fail_ret = RMW_RET_ERROR;
+    fail_ret = RCL_RET_ERROR;
     goto fail;
   }
 
   if (!context->impl->init_options.impl->rmw_init_options.enclave) {
     RCL_SET_ERROR_MSG("failed to set context name");
-    fail_ret = RMW_RET_BAD_ALLOC;
+    fail_ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
 
@@ -204,7 +204,7 @@ rcl_init(
     context->impl->init_options.impl->rmw_init_options.enclave,
     &context->impl->allocator,
     security_options);
-  if (RMW_RET_OK != ret) {
+  if (RCL_RET_OK != ret) {
     fail_ret = ret;
     goto fail;
   }
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 67c4778f7..62bf16b4e 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -311,7 +311,7 @@ rcl_publish_serialized_message(
     if (ret == RMW_RET_BAD_ALLOC) {
       return RCL_RET_BAD_ALLOC;
     }
-    return RMW_RET_ERROR;
+    return RCL_RET_ERROR;
   }
   return RCL_RET_OK;
 }
diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index a128c6651..e895fb0f7 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -42,7 +42,7 @@ rcl_get_security_options_from_environment(
 
   if (!use_security) {
     security_options->enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
-    return RMW_RET_OK;
+    return RCL_RET_OK;
   }
 
   ret = rcl_get_enforcement_policy(&security_options->enforce_security);