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Microxrce: Added return value handling for writer and reader creation #774

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Sep 26, 2024
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Microxrce: Added return value handling for writer and reader creation #774

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10 changes: 6 additions & 4 deletions src/modules/uxrce_dds_client/dds_topics.h.em
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,9 @@ void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream

if (@(pub['topic_simple'])_data_writer.id == UXR_INVALID_ID) {
// data writer not created yet
create_data_writer(session, reliable_out_stream_id, participant_id, ORB_ID::@(pub['topic_simple']), client_namespace, "@(pub['topic_name'])", "@(pub['dds_type'])", @(pub['topic_simple'])_data_writer);
if (!create_data_writer(session, reliable_out_stream_id, participant_id, ORB_ID::@(pub['topic_simple']), client_namespace, "@(pub['topic_name'])", "@(pub['dds_type'])", @(pub['topic_simple'])_data_writer)) {
@(pub['topic_simple'])_data_writer.id = UXR_INVALID_ID;
}
}

if (@(pub['topic_simple'])_data_writer.id != UXR_INVALID_ID) {
Expand All @@ -107,7 +109,6 @@ void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream
} else {
//PX4_ERR("Error UXR_INVALID_ID @(pub['topic_simple'])");
}

}
@[ end for]@
}
Expand Down Expand Up @@ -152,14 +153,15 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t

bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace)
{
bool ret = true;
@[ for idx, sub in enumerate(subscriptions)]@
{
uint16_t queue_depth = uORB::DefaultQueueSize<@(sub['simple_base_type'])_s>::value * 2; // use a bit larger queue size than internal
create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_name'])", "@(sub['dds_type'])", queue_depth);
ret = create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_name'])", "@(sub['dds_type'])", queue_depth);
}
@[ end for]@

uxr_set_topic_callback(session, on_topic_update, this);

return true;
return ret;
}
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