print warning if event callback is not supported instead of passing exception. (#2648)

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

rclcpp/src/rclcpp/publisher_base.cpp

@@ -135,15 +135,28 @@ void
 PublisherBase::bind_event_callbacks(
   const PublisherEventCallbacks & event_callbacks, bool use_default_callbacks)
 {
-  if (event_callbacks.deadline_callback) {
-    this->add_event_handler(
-      event_callbacks.deadline_callback,
-      RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+  try {
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        event_callbacks.deadline_callback,
+        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for deadline; not supported");
   }
-  if (event_callbacks.liveliness_callback) {
-    this->add_event_handler(
-      event_callbacks.liveliness_callback,
-      RCL_PUBLISHER_LIVELINESS_LOST);
+
+  try {
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for liveliness; not supported");
   }
 
   QOSOfferedIncompatibleQoSCallbackType incompatible_qos_cb;
@@ -160,9 +173,9 @@ PublisherBase::bind_event_callbacks(
       this->add_event_handler(incompatible_qos_cb, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
     }
   } catch (const UnsupportedEventTypeException & /*exc*/) {
-    RCLCPP_DEBUG(
+    RCLCPP_WARN(
       rclcpp::get_logger("rclcpp"),
-      "Failed to add event handler for incompatible qos; wrong callback type");
+      "Failed to add event handler for incompatible qos; not supported");
   }
 
   IncompatibleTypeCallbackType incompatible_type_cb;
@@ -179,14 +192,21 @@ PublisherBase::bind_event_callbacks(
       this->add_event_handler(incompatible_type_cb, RCL_PUBLISHER_INCOMPATIBLE_TYPE);
     }
   } catch (UnsupportedEventTypeException & /*exc*/) {
-    RCLCPP_DEBUG(
+    RCLCPP_WARN(
       rclcpp::get_logger("rclcpp"),
-      "Failed to add event handler for incompatible type; wrong callback type");
+      "Failed to add event handler for incompatible type; not supported");
   }
-  if (event_callbacks.matched_callback) {
-    this->add_event_handler(
-      event_callbacks.matched_callback,
-      RCL_PUBLISHER_MATCHED);
+
+  try {
+    if (event_callbacks.matched_callback) {
+      this->add_event_handler(
+        event_callbacks.matched_callback,
+        RCL_PUBLISHER_MATCHED);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for matched; not supported");
   }
 }
 

rclcpp/src/rclcpp/subscription_base.cpp

@@ -112,16 +112,28 @@ void
 SubscriptionBase::bind_event_callbacks(
   const SubscriptionEventCallbacks & event_callbacks, bool use_default_callbacks)
 {
-  if (event_callbacks.deadline_callback) {
-    this->add_event_handler(
-      event_callbacks.deadline_callback,
-      RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
+  try {
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        event_callbacks.deadline_callback,
+        RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for deadline; not supported");
   }
 
-  if (event_callbacks.liveliness_callback) {
-    this->add_event_handler(
-      event_callbacks.liveliness_callback,
-      RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
+  try {
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        event_callbacks.liveliness_callback,
+        RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for liveliness; not supported");
   }
 
   QOSRequestedIncompatibleQoSCallbackType incompatible_qos_cb;
@@ -139,7 +151,9 @@ SubscriptionBase::bind_event_callbacks(
       this->add_event_handler(incompatible_qos_cb, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
     }
   } catch (const UnsupportedEventTypeException & /*exc*/) {
-    // pass
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for incompatible qos; not supported");
   }
 
   IncompatibleTypeCallbackType incompatible_type_cb;
@@ -156,18 +170,33 @@ SubscriptionBase::bind_event_callbacks(
       this->add_event_handler(incompatible_type_cb, RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE);
     }
   } catch (UnsupportedEventTypeException & /*exc*/) {
-    // pass
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for incompatible type; not supported");
   }
 
-  if (event_callbacks.message_lost_callback) {
-    this->add_event_handler(
-      event_callbacks.message_lost_callback,
-      RCL_SUBSCRIPTION_MESSAGE_LOST);
+  try {
+    if (event_callbacks.message_lost_callback) {
+      this->add_event_handler(
+        event_callbacks.message_lost_callback,
+        RCL_SUBSCRIPTION_MESSAGE_LOST);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for message lost; not supported");
   }
-  if (event_callbacks.matched_callback) {
-    this->add_event_handler(
-      event_callbacks.matched_callback,
-      RCL_SUBSCRIPTION_MATCHED);
+
+  try {
+    if (event_callbacks.matched_callback) {
+      this->add_event_handler(
+        event_callbacks.matched_callback,
+        RCL_SUBSCRIPTION_MATCHED);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for matched; not supported");
   }
 }