address PR comments

Signed-off-by: Miaofei <miaofei@amazon.com>
ros2 · Mar 26, 2020 · a5eaf57 · a5eaf57
1 parent 900772a
commit a5eaf57
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Showing 4 changed files with 19 additions and 18 deletions.
diff --git a/rclpy/rclpy/qos.py b/rclpy/rclpy/qos.py
@@ -27,29 +27,28 @@ class QoSPolicyKind(IntEnum):
     This enum matches the one defined in rmw/incompatible_qos_events_statuses.h
     """
 
-    RMW_QOS_POLICY_INVALID = 1 << 0
-    RMW_QOS_POLICY_DURABILITY = 1 << 1
-    RMW_QOS_POLICY_DEADLINE = 1 << 2
-    RMW_QOS_POLICY_LIVELINESS = 1 << 3
-    RMW_QOS_POLICY_RELIABILITY = 1 << 4
-    RMW_QOS_POLICY_HISTORY = 1 << 5
-    RMW_QOS_POLICY_LIFESPAN = 1 << 6
+    INVALID = 1 << 0
+    DURABILITY = 1 << 1
+    DEADLINE = 1 << 2
+    LIVELINESS = 1 << 3
+    RELIABILITY = 1 << 4
+    HISTORY = 1 << 5
+    LIFESPAN = 1 << 6
 
 
 def qos_policy_name_from_kind(policy_kind: QoSPolicyKind):
     """Get QoS policy name from QoSPolicyKind enum."""
-
-    if policy_kind == RMW_QOS_POLICY_DURABILITY:
+    if policy_kind == QoSPolicyKind.DURABILITY:
         return 'DURABILITY_QOS_POLICY'
-    elif policy_kind == RMW_QOS_POLICY_DEADLINE:
+    elif policy_kind == QoSPolicyKind.DEADLINE:
         return 'DEADLINE_QOS_POLICY'
-    elif policy_kind == RMW_QOS_POLICY_LIVELINESS:
+    elif policy_kind == QoSPolicyKind.LIVELINESS:
         return 'LIVELINESS_QOS_POLICY'
-    elif policy_kind == RMW_QOS_POLICY_RELIABILITY:
+    elif policy_kind == QoSPolicyKind.RELIABILITY:
         return 'RELIABILITY_QOS_POLICY'
-    elif policy_kind == RMW_QOS_POLICY_HISTORY:
+    elif policy_kind == QoSPolicyKind.HISTORY:
         return 'HISTORY_QOS_POLICY'
-    elif policy_kind == RMW_QOS_POLICY_LIFESPAN:
+    elif policy_kind == QoSPolicyKind.LIFESPAN:
         return 'LIFESPAN_QOS_POLICY'
     else:
         return 'INVALID_QOS_POLICY'

diff --git a/rclpy/rclpy/qos_event.py b/rclpy/rclpy/qos_event.py
@@ -116,7 +116,7 @@ class QoSSubscriptionEventType(IntEnum):
 QoSOfferedIncompatibleQoSInfo = QoSRequestedIncompatibleQoSInfo
 
 
-class UnsupportedEventTypeException(Exception):
+class UnsupportedEventTypeError(Exception):
     """Raised when registering a callback for an event type that is not supported."""
 
     def __init__(self, *args):

diff --git a/rclpy/src/rclpy/_rclpy.c b/rclpy/src/rclpy/_rclpy.c
@@ -43,13 +43,14 @@
 
 #include "rclpy_common/common.h"
 #include "rclpy_common/handle.h"
-#include "./_rclpy_qos_event.c"
 
 static PyObject * RCLInvalidROSArgsError;
 static PyObject * UnknownROSArgsError;
 static PyObject * NodeNameNonExistentError;
 static PyObject * RCLError;
 
+#include "./_rclpy_qos_event.c"
+
 void
 _rclpy_context_handle_destructor(void * p)
 {

diff --git a/rclpy/src/rclpy/_rclpy_qos_event.c b/rclpy/src/rclpy/_rclpy_qos_event.c
@@ -37,7 +37,7 @@ _check_rcl_return(rcl_ret_t ret, const char * error_msg)
     return true;
   }
 
-  PyObject * exception = PyExc_RuntimeError;
+  PyObject * exception = RCLError;
   PyObject * pyqos_event_module = NULL;
   PyObject * pyqos_event_exception = NULL;
 
@@ -47,7 +47,8 @@ _check_rcl_return(rcl_ret_t ret, const char * error_msg)
       goto throw_exception;
     }
 
-    PyObject * pyqos_event_exception = PyObject_GetAttrString(pyqos_event_module, "UnsupportedEventTypeException");
+    PyObject * pyqos_event_exception = PyObject_GetAttrString(
+      pyqos_event_module, "UnsupportedEventTypeError");
     if (NULL == pyqos_event_exception) {
       goto throw_exception;
     }