use new error handling API (#153)

* use new error handling API

Signed-off-by: William Woodall <[email protected]>

* use semicolons after macros

Signed-off-by: William Woodall <[email protected]>

Author: wjwwood

rmw/CMakeLists.txt

@@ -27,7 +27,6 @@ include_directories(include)
 set(rmw_sources
   "src/allocators.c"
   "src/convert_rcutils_ret_to_rmw_ret.c"
-  "src/error_handling.c"
   "src/names_and_types.c"
   "src/sanity_checks.c"
   "src/node_security_options.c"

rmw/include/rmw/error_handling.h

@@ -20,48 +20,35 @@ extern "C"
 {
 #endif
 
-#include <stdbool.h>
-#include <stddef.h>
-
 #include <rcutils/error_handling.h>
 
-#include "rmw/visibility_control.h"
-
+typedef rcutils_error_string_t rmw_error_string_t;
 typedef rcutils_error_state_t rmw_error_state_t;
 
-#define rmw_error_state_copy rcutils_error_state_copy
+#define RMW_SAFE_FWRITE_TO_STDERR RCUTILS_SAFE_FWRITE_TO_STDERR
+
+#define rmw_initialize_error_handling_thread_local_storage \
+  rcutils_initialize_error_handling_thread_local_storage
 
-#define rmw_error_state_fini rcutils_error_state_fini
+#define rmw_set_error_state rcutils_set_error_state
 
-// TODO(wjwwood): replace this completely with rcutils_set_error_state()
-//                once the rmw APIs take an allocator that can be passed
-//                by the rmw implementations on to the error functions
-/// Set the error state, implicitly uses rcutils_get_default_allocator().
-/**
- * \see rcutils_get_default_allocator()
- * \see rcutils_set_error_state()
- */
-RMW_PUBLIC
-void
-rmw_set_error_state(const char * error_msg, const char * file, size_t line_number);
+#define RMW_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type) \
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type)
 
-/// Set the error message, as well as append the current file and line number.
-/**
- * \see RCUTILS_SET_ERROR_MSG
- */
-#define RMW_SET_ERROR_MSG(msg) rmw_set_error_state(msg, __FILE__, __LINE__);
+#define RMW_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement) \
+  RCUTILS_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement)
 
-#define RMW_SET_ERROR_MSG_ALLOC(msg, allocator) \
-  rcutils_set_error_state(msg, __FILE__, __LINE__, allocator);
+#define RMW_SET_ERROR_MSG(msg) RCUTILS_SET_ERROR_MSG(msg)
+
+#define RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) \
+  RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, __VA_ARGS__)
 
 #define rmw_error_is_set rcutils_error_is_set
 
 #define rmw_get_error_state rcutils_get_error_state
 
 #define rmw_get_error_string rcutils_get_error_string
 
-#define rmw_get_error_string_safe rcutils_get_error_string_safe
-
 #define rmw_reset_error rcutils_reset_error
 
 #ifdef __cplusplus

rmw/src/error_handling.c

@@ -56,26 +56,26 @@ rmw_names_and_types_init(
   rcutils_allocator_t * allocator)
 {
   if (!allocator) {
-    RMW_SET_ERROR_MSG("allocator is null")
+    RMW_SET_ERROR_MSG("allocator is null");
     return RMW_RET_INVALID_ARGUMENT;
   }
   if (!names_and_types) {
-    RMW_SET_ERROR_MSG_ALLOC("names_and_types is null", *allocator)
+    RMW_SET_ERROR_MSG("names_and_types is null");
     return RMW_RET_INVALID_ARGUMENT;
   }
   rcutils_ret_t rcutils_ret = rcutils_string_array_init(&names_and_types->names, size, allocator);
   if (rcutils_ret != RCUTILS_RET_OK) {
-    RMW_SET_ERROR_MSG(rcutils_get_error_string_safe())
+    RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
     return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
   }
   names_and_types->types =
     allocator->zero_allocate(size, sizeof(rcutils_string_array_t), allocator->state);
   if (!names_and_types->types) {
     rcutils_ret = rcutils_string_array_fini(&names_and_types->names);
     if (rcutils_ret != RCUTILS_RET_OK) {
-      RCUTILS_LOG_ERROR("error while reporting error: %s", rcutils_get_error_string_safe());
+      RCUTILS_LOG_ERROR("error while reporting error: %s", rcutils_get_error_string().str);
     }
-    RMW_SET_ERROR_MSG_ALLOC("failed to allocate memory for types", *allocator)
+    RMW_SET_ERROR_MSG("failed to allocate memory for types");
     return RMW_RET_BAD_ALLOC;
   }
   return RMW_RET_OK;
@@ -89,7 +89,7 @@ rmw_names_and_types_fini(rmw_names_and_types_t * names_and_types)
     return RMW_RET_INVALID_ARGUMENT;
   }
   if (names_and_types->names.size && !names_and_types->types) {
-    RMW_SET_ERROR_MSG("invalid names_and_types")
+    RMW_SET_ERROR_MSG("invalid names_and_types");
     return RMW_RET_INVALID_ARGUMENT;
   }
   rcutils_ret_t rcutils_ret;
@@ -101,7 +101,7 @@ rmw_names_and_types_fini(rmw_names_and_types_t * names_and_types)
     }
     rcutils_ret = rcutils_string_array_fini(&names_and_types->types[i]);
     if (rcutils_ret != RCUTILS_RET_OK) {
-      RMW_SET_ERROR_MSG(rcutils_get_error_string_safe())
+      RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
       return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
     }
   }
@@ -115,7 +115,7 @@ rmw_names_and_types_fini(rmw_names_and_types_t * names_and_types)
   // Cleanup names string array
   rcutils_ret = rcutils_string_array_fini(&names_and_types->names);
   if (rcutils_ret != RCUTILS_RET_OK) {
-    RMW_SET_ERROR_MSG(rcutils_get_error_string_safe())
+    RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
     return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
   }
   return RMW_RET_OK;