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Use the new rcutils_strerror function. #239

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merged 3 commits into from Feb 28, 2020
Merged

Use the new rcutils_strerror function. #239

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1df1388
Use the new rcutils_safe_strerror function.
clalancette Feb 14, 2020
3cc81b6
Switch to using rcutils_snprintf.
clalancette Feb 21, 2020
3619234
Switch rcutils_safe_strerror -> rcutils_strerror
clalancette Feb 21, 2020
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4 changes: 3 additions & 1 deletion tf2/CMakeLists.txt
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Expand Up @@ -10,6 +10,7 @@ find_package(ament_cmake)
find_package(console_bridge_vendor REQUIRED) # Provides console_bridge 0.4.0 on platforms without it.
find_package(console_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rcutils REQUIRED)

include_directories(include src/bt)

Expand All @@ -20,6 +21,7 @@ add_library(tf2 SHARED src/cache.cpp src/buffer_core.cpp src/static_cache.cpp sr
ament_target_dependencies(tf2
"console_bridge"
"geometry_msgs"
"rcutils"
)
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
Expand Down Expand Up @@ -77,7 +79,7 @@ if(BUILD_TESTING)

endif()

ament_export_dependencies(console_bridge geometry_msgs)
ament_export_dependencies(console_bridge geometry_msgs rcutils)
ament_export_include_directories(include)
ament_export_libraries(tf2)
ament_package()
3 changes: 2 additions & 1 deletion tf2/package.xml
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Expand Up @@ -23,7 +23,8 @@
<depend>console_bridge_vendor</depend>
<depend>geometry_msgs</depend>
<depend>libconsole-bridge-dev</depend>

<depend>rcutils</depend>

<test_depend>ament_cmake_gtest</test_depend>
<!-- TODO(tfoote) add linting
<test_depend>ament_lint_auto</test_depend>
Expand Down
36 changes: 11 additions & 25 deletions tf2/src/time.cpp
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Expand Up @@ -29,45 +29,31 @@

/** \author Tully Foote */

#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <time.h>
#include <stdexcept>
#include <string>

#include "rcutils/snprintf.h"
#include "rcutils/strerror.h"
#include "tf2/time.h"

using namespace tf2;

std::string tf2::displayTimePoint(const TimePoint& stamp)
std::string tf2::displayTimePoint(const tf2::TimePoint& stamp)
{
const char * format_str = "%.6f";
double current_time = timeToSec(stamp);
double current_time = tf2::timeToSec(stamp);
int buff_size = snprintf(NULL, 0, format_str, current_time);
if (buff_size < 0) {
#ifdef _WIN32
// Using fixed buffer size since, strerrorlen_s not yet available
const int errormsglen = 200;
char errmsg[errormsglen];
strerror_s(errmsg, errormsglen, errno);
char errmsg[200];
rcutils_strerror(errmsg, sizeof(errmsg));
throw std::runtime_error(errmsg);
#else
throw std::runtime_error(strerror(errno));
#endif // _WIN32
}

char * buffer = new char[buff_size];
int bytes_written = snprintf(buffer, buff_size, format_str, current_time);
int bytes_written = rcutils_snprintf(buffer, buff_size, format_str, current_time);
if (bytes_written < 0) {
delete[] buffer;
#ifdef _WIN32
// Using fixed buffer size since, strerrorlen_s not yet available
const int errormsglen = 200;
char errmsg[errormsglen];
strerror_s(errmsg, errormsglen, errno);
char errmsg[200];
rcutils_strerror(errmsg, sizeof(errmsg));
throw std::runtime_error(errmsg);
#else
throw std::runtime_error(strerror(errno));
#endif // _WIN32
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Instead, replace all of this with rcutils_snprintf()?

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For consistencies sake, I did switch to rcutils_snprintf. As far as I can tell, this doesn't remove the need for the rest of the error checking, so I left the rest as-is.

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Oh maybe I meant to say format string, it does the whole “how big? Allocate, snprintf, error handling” thing:

https://github.com/ros2/rcutils/blob/bd590e5253672957e8c7e070523fa725a4187db2/src/format_string.c#L32

Though it would use an rcutils allocator instead.

Idiomatic c++ would use streams instead... or the format stuff if we had c++20.

}
std::string result = std::string(buffer);
delete[] buffer;
Expand Down