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remove static function rcl_ret_from_rcutils_ret(). (#1122)
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Signed-off-by: Tomoya Fujita <[email protected]>
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@fujitatomoya
fujitatomoya committed Nov 30, 2023
1 parent 62871dd commit 13c0cbb
Showing 1 changed file with 25 additions and 55 deletions.
80 changes: 25 additions & 55 deletions rcl/src/rcl/logging_rosout.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,41 +33,6 @@

#define ROSOUT_TOPIC_NAME "/rosout"

static rcl_ret_t rcl_ret_from_rcutils_ret(rcutils_ret_t rcutils_ret)
{
rcl_ret_t rcl_ret_var;

if (RCUTILS_RET_OK != rcutils_ret) {
if (rcutils_error_is_set()) {
RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
} else {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING("rcutils_ret_t code: %i", rcutils_ret);
}
}

switch (rcutils_ret) {
case RCUTILS_RET_OK:
rcl_ret_var = RCL_RET_OK;
break;
case RCUTILS_RET_ERROR:
rcl_ret_var = RCL_RET_ERROR;
break;
case RCUTILS_RET_BAD_ALLOC:
rcl_ret_var = RCL_RET_BAD_ALLOC;
break;
case RCUTILS_RET_INVALID_ARGUMENT:
rcl_ret_var = RCL_RET_INVALID_ARGUMENT;
break;
case RCUTILS_RET_NOT_INITIALIZED:
rcl_ret_var = RCL_RET_NOT_INIT;
break;
default:
rcl_ret_var = RCUTILS_RET_ERROR;
}

return rcl_ret_var;
}

typedef struct rosout_map_entry_t
{
rcl_node_t * node;
Expand Down Expand Up @@ -96,7 +61,7 @@ rcl_ret_t rcl_logging_rosout_init(const rcl_allocator_t * allocator)
return RCL_RET_OK;
}
__logger_map = rcutils_get_zero_initialized_hash_map();
status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_init(
&__logger_map, 2, sizeof(const char *), sizeof(rosout_map_entry_t),
rcutils_hash_map_string_hash_func, rcutils_hash_map_string_cmp_func, allocator));
Expand All @@ -105,12 +70,13 @@ rcl_ret_t rcl_logging_rosout_init(const rcl_allocator_t * allocator)
}

__sublogger_map = rcutils_get_zero_initialized_hash_map();
status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_init(
&__sublogger_map, 2, sizeof(const char *), sizeof(rosout_sublogger_entry_t),
rcutils_hash_map_string_hash_func, rcutils_hash_map_string_cmp_func, allocator));
if (RCL_RET_OK != status) {
rcl_ret_t fini_status = rcl_ret_from_rcutils_ret(rcutils_hash_map_fini(&__logger_map));
rcl_ret_t fini_status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_fini(&__logger_map));
if (RCL_RET_OK != fini_status) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to finalize the hash map for logger: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
Expand Down Expand Up @@ -139,7 +105,7 @@ _rcl_logging_rosout_remove_logger_map(rcl_node_t * node)
&__logger_map, NULL, &key, &entry);
while (RCL_RET_OK == status && RCUTILS_RET_OK == hashmap_ret) {
if (entry.node == node) {
status = rcl_ret_from_rcutils_ret(rcutils_hash_map_unset(&__logger_map, &key));
status = rcl_convert_rcutils_ret_to_rcl_ret(rcutils_hash_map_unset(&__logger_map, &key));
previous_key = NULL;
} else {
previous_key = key;
Expand All @@ -160,7 +126,8 @@ _rcl_logging_rosout_clear_logger_map_item(void * value)
rcl_ret_t status = rcl_publisher_fini(&entry->publisher, entry->node);
if (RCL_RET_OK == status) {
// delete all entries using this node
status = rcl_ret_from_rcutils_ret(_rcl_logging_rosout_remove_logger_map(entry->node));
status = rcl_convert_rcutils_ret_to_rcl_ret(
_rcl_logging_rosout_remove_logger_map(entry->node));
}

return status;
Expand All @@ -170,7 +137,7 @@ static rcl_ret_t
_rcl_logging_rosout_clear_sublogger_map_item(void * value)
{
rosout_sublogger_entry_t * entry = (rosout_sublogger_entry_t *)value;
rcl_ret_t status = rcl_ret_from_rcutils_ret(
rcl_ret_t status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_unset(&__sublogger_map, &entry->name));
__rosout_allocator.deallocate(entry->name, __rosout_allocator.state);
__rosout_allocator.deallocate(entry->count, __rosout_allocator.state);
Expand All @@ -196,11 +163,11 @@ _rcl_logging_rosout_clear_hashmap(
hashmap_ret = rcutils_hash_map_get_next_key_and_data(map, NULL, &key, entry);
}
if (RCUTILS_RET_HASH_MAP_NO_MORE_ENTRIES != hashmap_ret) {
status = rcl_ret_from_rcutils_ret(hashmap_ret);
status = rcl_convert_rcutils_ret_to_rcl_ret(hashmap_ret);
}

if (RCL_RET_OK == status) {
status = rcl_ret_from_rcutils_ret(rcutils_hash_map_fini(map));
status = rcl_convert_rcutils_ret_to_rcl_ret(rcutils_hash_map_fini(map));
}

return status;
Expand Down Expand Up @@ -287,7 +254,7 @@ rcl_ret_t rcl_logging_rosout_init_publisher_for_node(rcl_node_t * node)
// Add the new publisher to the map
if (RCL_RET_OK == status) {
new_entry.node = node;
status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_set(&__logger_map, &logger_name, &new_entry));
if (RCL_RET_OK != status) {
RCL_SET_ERROR_MSG("Failed to add publisher to map.");
Expand Down Expand Up @@ -322,13 +289,14 @@ rcl_ret_t rcl_logging_rosout_fini_publisher_for_node(rcl_node_t * node)
}

// fini the publisher and remove the entry from the map
status = rcl_ret_from_rcutils_ret(rcutils_hash_map_get(&__logger_map, &logger_name, &entry));
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_get(&__logger_map, &logger_name, &entry));
if (RCL_RET_OK == status && node == entry.node) {
status = rcl_publisher_fini(&entry.publisher, entry.node);
}
if (RCL_RET_OK == status) {
// delete all entries using this node
status = rcl_ret_from_rcutils_ret(_rcl_logging_rosout_remove_logger_map(entry.node));
status = rcl_convert_rcutils_ret_to_rcl_ret(_rcl_logging_rosout_remove_logger_map(entry.node));
}

return status;
Expand Down Expand Up @@ -366,7 +334,8 @@ void rcl_logging_rosout_output_handler(
.allocator = __rosout_allocator
};

status = rcl_ret_from_rcutils_ret(rcutils_char_array_vsprintf(&msg_array, format, *args));
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_char_array_vsprintf(&msg_array, format, *args));
if (RCL_RET_OK != status) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to format log string: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
Expand All @@ -391,7 +360,7 @@ void rcl_logging_rosout_output_handler(
}
}

status = rcl_ret_from_rcutils_ret(rcutils_char_array_fini(&msg_array));
status = rcl_convert_rcutils_ret_to_rcl_ret(rcutils_char_array_fini(&msg_array));
if (RCL_RET_OK != status) {
RCUTILS_SAFE_FWRITE_TO_STDERR("failed to fini char_array: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
Expand Down Expand Up @@ -458,7 +427,7 @@ rcl_logging_rosout_add_sublogger(

if (rcutils_hash_map_key_exists(&__logger_map, &full_sublogger_name)) {
// To get the entry and increase the reference count
status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_get(&__sublogger_map, &full_sublogger_name, &sublogger_entry));
if (RCL_RET_OK != status) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
Expand All @@ -469,7 +438,7 @@ rcl_logging_rosout_add_sublogger(
goto cleanup;
}

status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_set(&__logger_map, &full_sublogger_name, &entry));
if (RCL_RET_OK != status) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
Expand All @@ -487,7 +456,7 @@ rcl_logging_rosout_add_sublogger(
sublogger_entry.count = sublogger_count;
*sublogger_entry.count = 1;

status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_set(&__sublogger_map, &full_sublogger_name, &sublogger_entry));
if (RCL_RET_OK != status) {
// revert the previor set operation for __logger_map
Expand Down Expand Up @@ -538,7 +507,7 @@ rcl_logging_rosout_remove_sublogger(
}

// remove the entry from the map
status = rcl_ret_from_rcutils_ret(
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_get(&__sublogger_map, &full_sublogger_name, &sublogger_entry));
if (RCL_RET_OK != status) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
Expand All @@ -548,10 +517,11 @@ rcl_logging_rosout_remove_sublogger(

*sublogger_entry.count -= 1;
if (*sublogger_entry.count == 0) {
status = rcl_ret_from_rcutils_ret(rcutils_hash_map_unset(&__logger_map, &full_sublogger_name));
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_unset(&__logger_map, &full_sublogger_name));
if (RCL_RET_OK == status) {
status =
rcl_ret_from_rcutils_ret(rcutils_hash_map_unset(&__sublogger_map, &full_sublogger_name));
status = rcl_convert_rcutils_ret_to_rcl_ret(
rcutils_hash_map_unset(&__sublogger_map, &full_sublogger_name));
__rosout_allocator.deallocate(sublogger_entry.name, __rosout_allocator.state);
__rosout_allocator.deallocate(sublogger_entry.count, __rosout_allocator.state);
}
Expand Down

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