From 13c0cbb7b0e8ad2f1572ac5e21181e565f76545a Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Wed, 29 Nov 2023 19:59:06 -0800 Subject: [PATCH] remove static function rcl_ret_from_rcutils_ret(). (#1122) Signed-off-by: Tomoya Fujita --- rcl/src/rcl/logging_rosout.c | 80 +++++++++++------------------------- 1 file changed, 25 insertions(+), 55 deletions(-) diff --git a/rcl/src/rcl/logging_rosout.c b/rcl/src/rcl/logging_rosout.c index ff93fb491..0a388c1ed 100644 --- a/rcl/src/rcl/logging_rosout.c +++ b/rcl/src/rcl/logging_rosout.c @@ -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; @@ -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)); @@ -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); @@ -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; @@ -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; @@ -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); @@ -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; @@ -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."); @@ -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; @@ -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); @@ -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); @@ -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( @@ -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( @@ -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 @@ -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( @@ -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); }