Ensure compliant publisher QoS queries. (#425)

Follow-up after 8fc9ca3. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Aug 24, 2020 · 7bd1685 · 7bd1685
1 parent 0959c84
commit 7bd1685
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Showing 3 changed files with 16 additions and 9 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -139,6 +139,14 @@ rmw_publisher_get_actual_qos(
  const rmw_publisher_t * publisher,
  rmw_qos_profile_t * qos)
 {
+ RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+ RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+ publisher,
+ publisher->implementation_identifier,
+ eprosima_fastrtps_identifier,
+ return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+ RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
  publisher, qos);
 }

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -143,6 +143,14 @@ rmw_publisher_get_actual_qos(
  const rmw_publisher_t * publisher,
  rmw_qos_profile_t * qos)
 {
+ RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+ RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+ publisher,
+ publisher->implementation_identifier,
+ eprosima_fastrtps_identifier,
+ return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+ RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
  publisher, qos);
 }

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -125,17 +125,8 @@ __rmw_publisher_get_actual_qos(
  const rmw_publisher_t * publisher,
  rmw_qos_profile_t * qos)
 {
- RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
- RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
-
  auto info = static_cast<CustomPublisherInfo *>(publisher->data);
- if (info == nullptr) {
- return RMW_RET_ERROR;
- }
  eprosima::fastrtps::Publisher * fastrtps_pub = info->publisher_;
- if (fastrtps_pub == nullptr) {
- return RMW_RET_ERROR;
- }
  const eprosima::fastrtps::PublisherAttributes & attributes =
  fastrtps_pub->getAttributes();