Implemented service is valid check.

ros2 · Dec 26, 2016 · c5c6d7d · c5c6d7d
1 parent 5f74a08
commit c5c6d7d
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diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
@@ -379,6 +379,9 @@ RCL_WARN_UNUSED
 rmw_service_t *
 rcl_service_get_rmw_handle(const rcl_service_t * service);
 
+bool
+rcl_service_is_valid(const rcl_service_t * service);
+
 #if __cplusplus
 }
 #endif

diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
@@ -203,6 +203,27 @@ rcl_send_response(
   return RCL_RET_OK;
 }
 
+bool
+rcl_service_is_valid(const rcl_service_t * service)
+{
+  RCL_CHECK_FOR_NULL_WITH_MSG(service,
+                              "service is invalid",
+                              return false);
+  RCL_CHECK_FOR_NULL_WITH_MSG(service->impl,
+                              "service is invalid",
+                              return false);
+  RCL_CHECK_FOR_NULL_WITH_MSG(service->impl->rmw_handle,
+                              "rmw handle is invalid",
+                              return false);
+  RCL_CHECK_FOR_NULL_WITH_MSG(service->impl->rmw_handle->service_name,
+                              "service name is invalid",
+                              return false);
+  RCL_CHECK_FOR_NULL_WITH_MSG(*service->impl->rmw_handle->service_name,
+                              "service name is invalid",
+                              return false);							  
+  return true;
+}
+
 #if __cplusplus
 }
 #endif