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[roseus] return nil when service call failed #742

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[roseus] return nil when service call failed #742

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112f338
return nil when service call failed
knorth55 Jan 27, 2023
e1486d6
check if nil when service call returns nil
knorth55 Jan 30, 2023
8806c38
Merge branch 'master' into service-call-return-nil
knorth55 Jan 31, 2023
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8 changes: 5 additions & 3 deletions roseus/roseus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1190,12 +1190,14 @@ pointer ROSEUS_SERVICE_CALL(register context *ctx,int n,pointer *argv)
}
vpop(); // pop response._message
vpop(); // pop request._message
if ( ! bSuccess ) {
if ( bSuccess ) {
return (response._message);
}
else {
ROS_ERROR("attempted to call service %s, but failed ",
ros::names::resolve(service).c_str());
return (NIL);
}

return (response._message);
}

pointer ROSEUS_ADVERTISE_SERVICE(register context *ctx,int n,pointer *argv)
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2 changes: 1 addition & 1 deletion roseus/test/add-two-ints-client.l
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Expand Up @@ -30,7 +30,7 @@
(1 (setq res (ros::service-call "add_two_ints" req nil)))
(2 (setq res (ros::service-call "add_two_ints" req))))
(setq after (ros::time-now))
(ros::ros-info "~d + ~d = ~d~ (~A sec)" (send req :a) (send req :b) (send res :sum) (send (ros::time- after before) :to-sec))
(ros::ros-info "~d + ~d = ~A~ (~A sec)" (send req :a) (send req :b) (if res (send res :sum)) (send (ros::time- after before) :to-sec))
(unix:sleep 1))


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16 changes: 8 additions & 8 deletions roseus/test/test-add-two-ints.l
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,9 @@
(warning-message 2 "Requesting ~A(~A) + ~A(~A) -> ~A(~A)~%" a (class a) b (class b) (+ a b) (class (+ a b)))
(setq req (instance roseus::AddTwoIntsRequest :init :a a :b b))
(setq res (ros::service-call "add_two_ints" req))
(assert (= (+ (send req :a) (send req :b)) (send res :sum))
(assert (and res (= (+ (send req :a) (send req :b)) (send res :sum)))
(format nil "integration failure (~A+~A)=~A(~A)/=~A(~A)"
a b (+ a b) (class (+ a b)) (send res :sum) (class (send res :sum))))
a b (+ a b) (class (+ a b)) (if res (send res :sum)) (class (if res (send res :sum)))))
(sys::gc)
)))

Expand All @@ -47,14 +47,14 @@
(setq res (ros::service-call "add_two_ints" req))
;; https://github.com/ros/ros_comm/issues/1976
;; service call sometimes fail
(when (not (= (+ (send req :a) (send req :b)) (send res :sum)))
(when (not (and res (= (+ (send req :a) (send req :b)) (send res :sum))))
(incf service-call-error)
(warning-message 3 (format nil "[~A] integration failure (~A+~A)=~A(~A)/=~A(~A)~%"
service-call-error
a b (+ a b) (class (+ a b)) (send res :sum) (class (send res :sum)))))
(assert (or (< service-call-error 5) (= (+ (send req :a) (send req :b)) (send res :sum)))
a b (+ a b) (class (+ a b)) (if res (send res :sum)) (if res (class (send res :sum))))))
(assert (or (< service-call-error 5) (and res (= (+ (send req :a) (send req :b)) (send res :sum))))
(format nil "integration failure ~A times ... (~A+~A)=~A(~A)/=~A(~A)"
service-call-error a b (+ a b) (class (+ a b)) (send res :sum) (class (send res :sum))))
service-call-error a b (+ a b) (class (+ a b)) (if res (send res :sum)) (if res (class (send res :sum)))))
(sys::gc)
)))

Expand All @@ -67,9 +67,9 @@
(ros::ros-info "Requesting ~A(~A) + ~A(~A) -> ~A(~A)" a (class a) b (class b) (+ a b) (class (+ a b)))
(setq req (instance roseus::AddTwoIntsRequest :init :a a :b b))
(setq res (ros::service-call "add_two_ints" req t))
(assert (= (+ (send req :a) (send req :b)) (send res :sum))
(assert (and res (= (+ (send req :a) (send req :b)) (send res :sum)))
(format nil "integration failure (~A+~A)=~A(~A)/=~A(~A)"
a b (+ a b) (class (+ a b)) (send res :sum) (class (send res :sum))))
a b (+ a b) (class (+ a b)) (if res (send res :sum)) (if res (class (send res :sum)))))
(sys::gc)
)))

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