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Ensure compliant init/shutdown API implementation. #401

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merged 4 commits into from
Jun 29, 2020
Merged

Ensure compliant init/shutdown API implementation. #401

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f4f3810
Ensure compliant init/shutdown API implementation.
hidmic Jun 22, 2020
4e6c5e1
Use rcpputils::scope_exit().
hidmic Jun 25, 2020
813ee12
Please uncrustify.
hidmic Jun 26, 2020
f91573e
Split clean up code & assert preconditions.
hidmic Jun 29, 2020
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2 changes: 2 additions & 0 deletions rmw_fastrtps_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ endif()

find_package(ament_cmake_ros REQUIRED)

find_package(rcpputils REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw_dds_common REQUIRED)
find_package(rmw_fastrtps_shared_cpp REQUIRED)
Expand Down Expand Up @@ -93,6 +94,7 @@ target_link_libraries(rmw_fastrtps_cpp

# specific order: dependents before dependencies
ament_target_dependencies(rmw_fastrtps_cpp
"rcpputils"
"rcutils"
"rosidl_typesupport_fastrtps_c"
"rosidl_typesupport_fastrtps_cpp"
Expand Down
2 changes: 2 additions & 0 deletions rmw_fastrtps_cpp/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<build_depend>fastcdr</build_depend>
<build_depend>fastrtps</build_depend>
<build_depend>fastrtps_cmake_module</build_depend>
<build_depend>rcpputils</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>rmw_dds_common</build_depend>
Expand All @@ -39,6 +40,7 @@
<build_export_depend>rosidl_typesupport_fastrtps_c</build_export_depend>
<build_export_depend>rosidl_typesupport_fastrtps_cpp</build_export_depend>

<exec_depend>rcpputils</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rmw</exec_depend>
<exec_depend>rmw_fastrtps_shared_cpp</exec_depend>
Expand Down
63 changes: 37 additions & 26 deletions rmw_fastrtps_cpp/src/rmw_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,15 @@
#include "rcutils/strdup.h"
#include "rcutils/types.h"

#include "rmw/error_handling.h"
#include "rmw/init.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/init_options.h"
#include "rmw/publisher_options.h"
#include "rmw/rmw.h"

#include "rcpputils/scope_exit.hpp"

#include "rmw_dds_common/context.hpp"
#include "rmw_dds_common/msg/participant_entities_info.hpp"

Expand Down Expand Up @@ -68,63 +71,70 @@ using rmw_dds_common::msg::ParticipantEntitiesInfo;
rmw_ret_t
rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
{
std::unique_ptr<rmw_context_t, void (*)(rmw_context_t *)> clean_when_fail(
context,
[](rmw_context_t * context)
{
*context = rmw_get_zero_initialized_context();
});
rmw_ret_t ret = RMW_RET_OK;

RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
options->implementation_identifier,
"expected initialized init options",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
options,
options->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (NULL != context->implementation_identifier) {
RMW_SET_ERROR_MSG("expected a zero-initialized context");
return RMW_RET_INVALID_ARGUMENT;
}

auto cleanup = rcpputils::make_scope_exit(
[context]() {
delete context->impl;
*context = rmw_get_zero_initialized_context();
});

context->instance_id = options->instance_id;
context->implementation_identifier = eprosima_fastrtps_identifier;

std::unique_ptr<rmw_context_impl_t> context_impl(new (std::nothrow) rmw_context_impl_t());
if (!context_impl) {
context->impl = new (std::nothrow) rmw_context_impl_t();
if (nullptr == context->impl) {
RMW_SET_ERROR_MSG("failed to allocate context impl");
return RMW_RET_BAD_ALLOC;
}
context->impl->is_shutdown = false;
context->options = rmw_get_zero_initialized_init_options();
ret = rmw_init_options_copy(options, &context->options);
rmw_ret_t ret = rmw_init_options_copy(options, &context->options);
if (RMW_RET_OK != ret) {
if (RMW_RET_OK != rmw_init_options_fini(&context->options)) {
RMW_SAFE_FWRITE_TO_STDERR(
"'rmw_init_options_fini' failed while being executed due to '"
RCUTILS_STRINGIFY(__function__) "' failing.\n");
}
return ret;
}
context_impl->is_shutdown = false;
context->impl = context_impl.release();
clean_when_fail.release();
cleanup.cancel();
return RMW_RET_OK;
}

rmw_ret_t
rmw_shutdown(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
context->impl,
"expected initialized context",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
context->impl->is_shutdown = true;
return RMW_RET_OK;
}

rmw_ret_t
rmw_context_fini(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
context->impl,
"expected initialized context",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
Expand All @@ -134,8 +144,9 @@ rmw_context_fini(rmw_context_t * context)
RCUTILS_SET_ERROR_MSG("context has not been shutdown");
return RMW_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_init_options_fini(&context->options);
delete context->impl;
*context = rmw_get_zero_initialized_context();
return RMW_RET_OK;
return ret;
}
} // extern "C"
62 changes: 37 additions & 25 deletions rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,15 @@
#include "rcutils/strdup.h"
#include "rcutils/types.h"

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/init.h"
#include "rmw/init_options.h"
#include "rmw/publisher_options.h"
#include "rmw/rmw.h"

#include "rcpputils/scope_exit.hpp"

#include "rmw_dds_common/context.hpp"
#include "rmw_dds_common/msg/participant_entities_info.hpp"

Expand Down Expand Up @@ -68,62 +71,70 @@ using rmw_dds_common::msg::ParticipantEntitiesInfo;
rmw_ret_t
rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
{
std::unique_ptr<rmw_context_t, void (*)(rmw_context_t *)> clean_when_fail(
context,
[](rmw_context_t * context)
{
*context = rmw_get_zero_initialized_context();
});
rmw_ret_t ret = RMW_RET_OK;

RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
options->implementation_identifier,
"expected initialized init options",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
options,
options->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (NULL != context->implementation_identifier) {
RMW_SET_ERROR_MSG("expected a zero-initialized context");
return RMW_RET_INVALID_ARGUMENT;
}

auto cleanup = rcpputils::make_scope_exit(
[context]() {
delete context->impl;
*context = rmw_get_zero_initialized_context();
});

context->instance_id = options->instance_id;
context->implementation_identifier = eprosima_fastrtps_identifier;

std::unique_ptr<rmw_context_impl_t> context_impl(new (std::nothrow) rmw_context_impl_t());
if (!context_impl) {
context->impl = new (std::nothrow) rmw_context_impl_t();
if (nullptr == context->impl) {
RMW_SET_ERROR_MSG("failed to allocate context impl");
return RMW_RET_BAD_ALLOC;
}
context->impl->is_shutdown = false;
context->options = rmw_get_zero_initialized_init_options();
ret = rmw_init_options_copy(options, &context->options);
rmw_ret_t ret = rmw_init_options_copy(options, &context->options);
if (RMW_RET_OK != ret) {
if (RMW_RET_OK != rmw_init_options_fini(&context->options)) {
RMW_SAFE_FWRITE_TO_STDERR(
"'rmw_init_options_fini' failed while being executed due to '"
RCUTILS_STRINGIFY(__function__) "' failing.\n");
}
return ret;
}
context->impl = context_impl.release();
clean_when_fail.release();
cleanup.cancel();
return RMW_RET_OK;
}

rmw_ret_t
rmw_shutdown(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
context->impl,
"expected initialized context",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
context->impl->is_shutdown = true;
return RMW_RET_OK;
}

rmw_ret_t
rmw_context_fini(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
context->impl,
"expected initialized context",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
Expand All @@ -133,8 +144,9 @@ rmw_context_fini(rmw_context_t * context)
RCUTILS_SET_ERROR_MSG("context has not been shutdown");
return RMW_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_init_options_fini(&context->options);
delete context->impl;
*context = rmw_get_zero_initialized_context();
return RMW_RET_OK;
return ret;
}
} // extern "C"