Merge pull request ros2#15 from irobot-ros/revert-12-mauro-irobot/add…

…-events-executor

Revert "void return on set_events_executor_callback"

rclcpp/include/rclcpp/client.hpp

@@ -37,7 +37,6 @@
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-#include "rcutils/executor_event_types.h"
 #include "rcutils/logging_macros.h"
 
 #include "rmw/error_handling.h"

rclcpp/include/rclcpp/qos_event.hpp

@@ -21,7 +21,6 @@
 #include "rcl/error_handling.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 
-#include "rcutils/executor_event_types.h"
 #include "rcutils/logging_macros.h"
 
 #include "rclcpp/exceptions.hpp"
@@ -156,12 +155,16 @@ class QOSEventHandler : public QOSEventHandlerBase
     void * executor_context,
     ExecutorEventCallback executor_callback) const override
   {
-    rcl_event_set_events_executor_callback(
+    rcl_ret_t ret = rcl_event_set_events_executor_callback(
       executor_context,
       executor_callback,
       this,
       &event_handle_,
       false /* Discard previous events */);
+
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error("Couldn't set EventsExecutor's callback to event");
+    }
   }
 
 private:

rclcpp/src/rclcpp/client.cpp

@@ -204,9 +204,13 @@ ClientBase::set_events_executor_callback(
   const void * executor_context,
   ExecutorEventCallback executor_callback) const
 {
-  rcl_client_set_events_executor_callback(
+  rcl_ret_t ret = rcl_client_set_events_executor_callback(
     executor_context,
     executor_callback,
     this,
     client_handle_.get());
+
+  if (RCL_RET_OK != ret) {
+    throw std::runtime_error("Couldn't set the EventsExecutor's callback to client");
+  }
 }

rclcpp/src/rclcpp/executors/events_executor.cpp

@@ -31,21 +31,31 @@ EventsExecutor::EventsExecutor(
   timers_manager_ = std::make_shared<TimersManager>(context_);
   entities_collector_ = std::make_shared<EventsExecutorEntitiesCollector>(this, timers_manager_);
 
+  rcl_ret_t ret;
+
   // Set the global ctrl-c guard condition callback
-  rcl_guard_condition_set_events_executor_callback(
+  ret = rcl_guard_condition_set_events_executor_callback(
     this,
     &EventsExecutor::push_event,
     entities_collector_.get(),
     options.context->get_interrupt_guard_condition(&wait_set_),
     false /* Discard previous events */);
 
+  if (ret != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't set ctrl-c guard condition callback");
+  }
+
   // Set the executor interrupt guard condition callback
-  rcl_guard_condition_set_events_executor_callback(
+  ret = rcl_guard_condition_set_events_executor_callback(
     this,
     &EventsExecutor::push_event,
     entities_collector_.get(),
     &interrupt_guard_condition_,
     false /* Discard previous events */);
+
+  if (ret != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't set interrupt guard condition callback");
+  }
 }
 
 EventsExecutor::~EventsExecutor() {}

rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp

@@ -72,12 +72,16 @@ EventsExecutorEntitiesCollector::add_node(
 
   // Set node's guard condition callback, so if new entities are added while
   // spinning we can set their callback.
-  rcl_guard_condition_set_events_executor_callback(
+  rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
     associated_executor_,
     &EventsExecutor::push_event,
     this,
     node_ptr->get_notify_guard_condition(),
     false /* Discard previous events */);
+
+  if (ret != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't set node guard condition callback");
+  }
 }
 
 void
@@ -91,11 +95,15 @@ EventsExecutorEntitiesCollector::remove_node(
     bool matched = (node_it->lock() == node_ptr);
     if (matched) {
       // Node found: unset its entities callbacks
-      rcl_guard_condition_set_events_executor_callback(
+      rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
         nullptr, nullptr, nullptr,
         node_ptr->get_notify_guard_condition(),
         false);
 
+      if (ret != RCL_RET_OK) {
+        throw std::runtime_error(std::string("Couldn't set guard condition callback"));
+      }
+
       // Unset entities callbacks
       for (auto & weak_group : node_ptr->get_callback_groups()) {
         auto group = weak_group.lock();

rclcpp/src/rclcpp/service.cpp

@@ -90,9 +90,13 @@ ServiceBase::set_events_executor_callback(
   const void * executor_context,
   ExecutorEventCallback executor_callback) const
 {
-  rcl_service_set_events_executor_callback(
+  rcl_ret_t ret = rcl_service_set_events_executor_callback(
     executor_context,
     executor_callback,
     this,
     service_handle_.get());
+
+  if (RCL_RET_OK != ret) {
+    throw std::runtime_error("Couldn't set the EventsExecutor's callback to service");
+  }
 }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -294,9 +294,13 @@ SubscriptionBase::set_events_executor_callback(
   const void * executor_context,
   ExecutorEventCallback executor_callback) const
 {
-  rcl_subscription_set_events_executor_callback(
+  rcl_ret_t ret = rcl_subscription_set_events_executor_callback(
     executor_context,
     executor_callback,
     this,
     subscription_handle_.get());
+
+  if (RCL_RET_OK != ret) {
+    throw std::runtime_error("Couldn't set the EventsExecutor's callback to subscription");
+  }
 }

rclcpp/src/rclcpp/subscription_intra_process_base.cpp

@@ -44,10 +44,14 @@ SubscriptionIntraProcessBase::set_events_executor_callback(
   void * executor_context,
   ExecutorEventCallback executor_callback) const
 {
-  rcl_guard_condition_set_events_executor_callback(
+  rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
     executor_context,
     executor_callback,
     this,
     &gc_,
     true /*Use previous events*/);
+
+  if (RCL_RET_OK != ret) {
+    throw std::runtime_error(std::string("Couldn't set guard condition callback"));
+  }
 }

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -457,12 +457,16 @@ class TestWaitable : public rclcpp::Waitable
     void * executor_context,
     ExecutorEventCallback executor_callback) const override
   {
-    rcl_guard_condition_set_events_executor_callback(
+    rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
       executor_context,
       executor_callback,
       this,
       &gc_,
       true /*Use previous events*/);
+
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(std::string("Couldn't set guard condition callback"));
+    }
   }
 
 private: