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Set error message when clock type is not ROS_TIME #275

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merged 1 commit into from
Aug 3, 2018
Merged

Set error message when clock type is not ROS_TIME #275

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20 changes: 15 additions & 5 deletions rcl/src/rcl/time.c
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Original file line number Diff line number Diff line change
Expand Up @@ -242,7 +242,7 @@ rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_value_t * time_point_value
return clock->get_now(clock->data, time_point_value);
}
RCL_SET_ERROR_MSG(
"clock is not initialized or does not have get_now registered.",
"Clock is not initialized or does not have get_now registered.",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
Expand All @@ -253,12 +253,13 @@ rcl_enable_ros_time_override(rcl_clock_t * clock)
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Time source is not RCL_ROS_TIME cannot enable override.", rcl_get_default_allocator())
"Clock is not of type RCL_ROS_TIME, cannot enable override.", rcl_get_default_allocator())
return RCL_RET_ERROR;
}
rcl_ros_clock_storage_t * storage = (rcl_ros_clock_storage_t *)clock->data;
if (!storage) {
RCL_SET_ERROR_MSG("Storage not initialized, cannot enable.", rcl_get_default_allocator())
RCL_SET_ERROR_MSG("Clock storage is not initialized, cannot enable override.",
rcl_get_default_allocator())
return RCL_RET_ERROR;
}
storage->active = true;
Expand All @@ -270,12 +271,15 @@ rcl_disable_ros_time_override(rcl_clock_t * clock)
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Clock is not of type RCL_ROS_TIME, cannot disable override.", rcl_get_default_allocator())
return RCL_RET_ERROR;
}
rcl_ros_clock_storage_t * storage = \
(rcl_ros_clock_storage_t *)clock->data;
if (!storage) {
RCL_SET_ERROR_MSG("Storage not initialized, cannot disable.", rcl_get_default_allocator())
RCL_SET_ERROR_MSG("Clock storage is not initialized, cannot disable override.",
rcl_get_default_allocator())
return RCL_RET_ERROR;
}
storage->active = false;
Expand All @@ -290,12 +294,16 @@ rcl_is_enabled_ros_time_override(
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(is_enabled, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Clock is not of type RCL_ROS_TIME, cannot query override state.",
rcl_get_default_allocator())
return RCL_RET_ERROR;
}
rcl_ros_clock_storage_t * storage = \
(rcl_ros_clock_storage_t *)clock->data;
if (!storage) {
RCL_SET_ERROR_MSG("Storage not initialized, cannot query.", rcl_get_default_allocator())
RCL_SET_ERROR_MSG("Clock storage is not initialized, cannot query override state.",
rcl_get_default_allocator())
return RCL_RET_ERROR;
}
*is_enabled = storage->active;
Expand All @@ -309,6 +317,8 @@ rcl_set_ros_time_override(
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (clock->type != RCL_ROS_TIME) {
RCL_SET_ERROR_MSG(
"Clock is not of type RCL_ROS_TIME, cannot set time override.", rcl_get_default_allocator())
return RCL_RET_ERROR;
}
rcl_ros_clock_storage_t * storage = \
Expand Down