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Use rcpputils::scope_exit in native getTopicNamesAndTypes Node method #38

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Merged
merged 2 commits into from
Sep 16, 2020
Merged

Use rcpputils::scope_exit in native getTopicNamesAndTypes Node method #38

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Use rcpputils::scope_exit in native getTopicNamesAndTypes Node method
ivanpauno Sep 16, 2020
82838f7
nit
ivanpauno Sep 16, 2020
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22 changes: 12 additions & 10 deletions rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -286,28 +286,30 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeGetTopicNamesAndTypes(
false,
&topic_names_and_types);
RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get topic names and types");
auto cleanup_names_and_types = rcpputils::make_scope_exit(
[pnames_and_types = &topic_names_and_types, env]() {
rcl_ret_t ret = rcl_names_and_types_fini(pnames_and_types);
if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
rcljava_throw_rclexception(env, ret, "failed to fini topic names and types structure");
}
}
);

for (size_t i = 0; i < topic_names_and_types.names.size; i++) {
jobject jitem = env->NewObject(name_and_types_clazz, name_and_types_init_mid);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION_WITH_ERROR_STATEMENT(env, goto cleanup);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
jstring jname = env->NewStringUTF(topic_names_and_types.names.data[i]);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION_WITH_ERROR_STATEMENT(env, goto cleanup);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
env->SetObjectField(jitem, name_fid, jname);
// the default constructor already inits types to an empty ArrayList
jobject jtypes = env->GetObjectField(jitem, types_fid);
for (size_t j = 0; j < topic_names_and_types.types[i].size; j++) {
jstring jtype = env->NewStringUTF(topic_names_and_types.types[i].data[j]);
env->CallBooleanMethod(jtypes, collection_add_mid, jtype);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION_WITH_ERROR_STATEMENT(env, goto cleanup);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
}
env->CallBooleanMethod(jnames_and_types, collection_add_mid, jitem);
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION_WITH_ERROR_STATEMENT(env, goto cleanup);
}

cleanup:
ret = rcl_names_and_types_fini(&topic_names_and_types);
if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
rcljava_throw_rclexception(env, ret, "failed to fini topic names and types structure");
RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
}
}

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