modified return type

Signed-off-by: Martin Mayer <[email protected]>

Author: WideAwakeTN

include/rcutils/thread.h

@@ -16,6 +16,7 @@
 #define RCUTILS__THREAD_H_
 
 #include "rcutils/visibility_control.h"
+#include "rcutils/types/rcutils_ret.h"
 
 #ifdef __cplusplus
 extern "C"
@@ -34,10 +35,10 @@ enum ThreadPriority
 /**
  * \param[in] thread_priority thread priority of type ThreadPriority
  * \param[out] os_priority OS specific thread priority
- * \return 1 on systems that support POSIX, else 0
+ * \return RCUTILS_RET_OK on systems that support POSIX
  */
 RCUTILS_LOCAL
-int calculate_os_thread_priority(
+rcutils_ret_t calculate_os_thread_priority(
   const int thread_priority,
   int * os_priority);
 
@@ -52,10 +53,10 @@ int calculate_os_thread_priority(
  * \param[in] native_handle native thread handle
  * \param[in] priority priority of type ThreadPriority to be set for the given thread
  * \param[in] cpu_bitmask cpu core bitmask for the given thread; use (unsigned) -1 for all cores
- * \return 1 on success, 0 on error
+ * \return RCUTILS_RET_OK on success
  */
 RCUTILS_PUBLIC
-int configure_native_realtime_thread(
+rcutils_ret_t configure_native_realtime_thread(
   unsigned long int native_handle, const int priority,
   const unsigned int cpu_bitmask);
 

src/thread.c

@@ -37,14 +37,14 @@ extern "C"
 {
 #endif
 
-int calculate_os_thread_priority(
+rcutils_ret_t calculate_os_thread_priority(
   const int thread_priority,
   int * os_priority)
 {
 #ifdef _WIN32
-  return false;
+  return RCUTILS_RET_ERROR;
 #elif __APPLE__
-  return false;
+  return RCUTILS_RET_ERROR;
 #else
   if (thread_priority == THREAD_PRIORITY_HIGH) {
     *os_priority = sched_get_priority_max(SCHED_FIFO);
@@ -56,26 +56,27 @@ int calculate_os_thread_priority(
     *os_priority =
       (sched_get_priority_min(SCHED_FIFO) + sched_get_priority_max(SCHED_FIFO)) / 2 - 1;
   } else {  // unhandled priority
-    return 0;
+    return RCUTILS_RET_ERROR;
   }
-  return 1;
+  return RCUTILS_RET_OK;
 #endif
 }
 
-int configure_native_realtime_thread(
+rcutils_ret_t configure_native_realtime_thread(
   unsigned long int native_handle, const int priority,
   const unsigned int cpu_bitmask)
 {
   int success = 1;
 #ifdef _WIN32
-  return false;
+  return RCUTILS_RET_ERROR;
 #elif __APPLE__
-  return false;
+  return RCUTILS_RET_ERROR;
 #else  // POSIX systems
   struct sched_param params;
   int policy;
   success &= (pthread_getschedparam(native_handle, &policy, &params) == 0);
-  success &= calculate_os_thread_priority(priority, &params.sched_priority);
+  success &= (calculate_os_thread_priority(priority, &params.sched_priority) ==
+              RCUTILS_RET_OK ? 1 : 0);
   success &= (pthread_setschedparam(native_handle, SCHED_FIFO, &params) == 0);
 
 #ifdef __QNXNTO__
@@ -104,7 +105,7 @@ int configure_native_realtime_thread(
 #endif  // __QNXNTO__
 #endif
 
-  return success;
+  return success ? RCUTILS_RET_OK : RCUTILS_RET_ERROR;
 }
 
 #ifdef __cplusplus