Replace exit code defines with enum

uos · Apr 14, 2016 · 4356913 · 4356913
1 parent 11ca91c
commit 4356913
Show file tree

Hide file tree

Showing 15 changed files with 73 additions and 68 deletions.
diff --git a/include/sick_tim/abstract_parser.h b/include/sick_tim/abstract_parser.h
@@ -41,6 +41,13 @@
 namespace sick_tim
 {
 
+enum ExitCode
+{
+    ExitSuccess = 0
+    , ExitError = 1    // non-fatal error, retry
+    , ExitFatal = 2    // fatal error, exit
+};
+
 class AbstractParser
 {
 public:

diff --git a/include/sick_tim/sick_tim_common.h b/include/sick_tim/sick_tim_common.h
@@ -55,8 +55,6 @@
 #include <sick_tim/SickTimConfig.h>
 #include <sick_tim/abstract_parser.h>
 
-#define EXIT_FATAL  2
-
 namespace sick_tim
 {
 

diff --git a/src/sick_tim310.cpp b/src/sick_tim310.cpp
@@ -52,7 +52,7 @@ int main(int argc, char **argv)
 
   sick_tim::SickTimCommon* s = NULL;
 
-  int result = EXIT_FAILURE;
+  int result = sick_tim::ExitError;
   while (ros::ok())
   {
     // Atempt to connect/reconnect
@@ -63,12 +63,12 @@ int main(int argc, char **argv)
       s = new sick_tim::SickTimCommonUsb(parser);
     result = s->init();
 
-    while(ros::ok() && (result == EXIT_SUCCESS)){
+    while(ros::ok() && (result == sick_tim::ExitSuccess)){
       ros::spinOnce();
       result = s->loopOnce();
     }
 
-    if (result == EXIT_FATAL)
+    if (result == sick_tim::ExitFatal)
       return result;
 
     if (ros::ok() && !subscribe_datagram)

diff --git a/src/sick_tim310_1130000m01.cpp b/src/sick_tim310_1130000m01.cpp
@@ -52,7 +52,7 @@ int main(int argc, char **argv)
 
   sick_tim::SickTimCommon* s = NULL;
 
-  int result = EXIT_FAILURE;
+  int result = sick_tim::ExitError;
   while (ros::ok())
   {
     // Atempt to connect/reconnect
@@ -63,12 +63,12 @@ int main(int argc, char **argv)
       s = new sick_tim::SickTimCommonUsb(parser);
     result = s->init();
 
-    while(ros::ok() && (result == EXIT_SUCCESS)){
+    while(ros::ok() && (result == sick_tim::ExitSuccess)){
       ros::spinOnce();
       result = s->loopOnce();
     }
 
-    if (result == EXIT_FATAL)
+    if (result == sick_tim::ExitFatal)
       return result;
 
     if (ros::ok() && !subscribe_datagram)

diff --git a/src/sick_tim310_1130000m01_parser.cpp b/src/sick_tim310_1130000m01_parser.cpp
@@ -83,14 +83,14 @@ int SickTim3101130000M01Parser::parse_datagram(char* datagram, size_t datagram_l
         "received less fields than expected fields (actual: %zu, expected: %zu), ignoring scan", count, NUM_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   else if (count > NUM_FIELDS)
   {
     ROS_WARN("received more fields than expected (actual: %zu, expected: %zu), ignoring scan", count, NUM_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
 
   // ----- read fields into msg
@@ -220,7 +220,7 @@ int SickTim3101130000M01Parser::parse_datagram(char* datagram, size_t datagram_l
   // - add time offset (to account for USB latency etc.)
   msg.header.stamp += ros::Duration().fromSec(config.time_offset);
 
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 } /* namespace sick_tim */
diff --git a/src/sick_tim310_parser.cpp b/src/sick_tim310_parser.cpp
@@ -83,14 +83,14 @@ int SickTim310Parser::parse_datagram(char* datagram, size_t datagram_length, Sic
         "received less fields than expected fields (actual: %zu, expected: %zu), ignoring scan", count, NUM_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   else if (count > NUM_FIELDS)
   {
     ROS_WARN("received more fields than expected (actual: %zu, expected: %zu), ignoring scan", count, NUM_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
 
   // ----- read fields into msg
@@ -220,7 +220,7 @@ int SickTim310Parser::parse_datagram(char* datagram, size_t datagram_length, Sic
   // - add time offset (to account for USB latency etc.)
   msg.header.stamp += ros::Duration().fromSec(config.time_offset);
 
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 } /* namespace sick_tim */
diff --git a/src/sick_tim310s01.cpp b/src/sick_tim310s01.cpp
@@ -52,7 +52,7 @@ int main(int argc, char **argv)
 
   sick_tim::SickTimCommon* s = NULL;
 
-  int result = EXIT_FAILURE;
+  int result = sick_tim::ExitError;
   while (ros::ok())
   {
     // Atempt to connect/reconnect
@@ -63,12 +63,12 @@ int main(int argc, char **argv)
       s = new sick_tim::SickTimCommonUsb(parser);
     result = s->init();
 
-    while(ros::ok() && (result == EXIT_SUCCESS)){
+    while(ros::ok() && (result == sick_tim::ExitSuccess)){
       ros::spinOnce();
       result = s->loopOnce();
     }
 
-    if (result == EXIT_FATAL)
+    if (result == sick_tim::ExitFatal)
       return result;
 
     if (ros::ok() && !subscribe_datagram)

diff --git a/src/sick_tim310s01_parser.cpp b/src/sick_tim310s01_parser.cpp
@@ -83,14 +83,14 @@ int SickTim310S01Parser::parse_datagram(char* datagram, size_t datagram_length,
         "received less fields than expected fields (actual: %zu, expected: %zu), ignoring scan", count, NUM_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   else if (count > NUM_FIELDS)
   {
     ROS_WARN("received more fields than expected (actual: %zu, expected: %zu), ignoring scan", count, NUM_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
 
   // ----- read fields into msg
@@ -220,7 +220,7 @@ int SickTim310S01Parser::parse_datagram(char* datagram, size_t datagram_length,
   // - add time offset (to account for USB latency etc.)
   msg.header.stamp += ros::Duration().fromSec(config.time_offset);
 
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 } /* namespace sick_tim */
diff --git a/src/sick_tim551_2050001.cpp b/src/sick_tim551_2050001.cpp
@@ -76,7 +76,7 @@ int main(int argc, char **argv)
 
   sick_tim::SickTimCommon* s = NULL;
 
-  int result = EXIT_FAILURE;
+  int result = sick_tim::ExitError;
   while (ros::ok())
   {
     // Atempt to connect/reconnect
@@ -89,12 +89,12 @@ int main(int argc, char **argv)
       s = new sick_tim::SickTimCommonUsb(parser);
     result = s->init();
 
-    while(ros::ok() && (result == EXIT_SUCCESS)){
+    while(ros::ok() && (result == sick_tim::ExitSuccess)){
       ros::spinOnce();
       result = s->loopOnce();
     }
 
-    if (result == EXIT_FATAL)
+    if (result == sick_tim::ExitFatal)
       return result;
 
     if (ros::ok() && !subscribe_datagram && !useTCP)

diff --git a/src/sick_tim551_2050001_parser.cpp b/src/sick_tim551_2050001_parser.cpp
@@ -89,17 +89,17 @@ int SickTim5512050001Parser::parse_datagram(char* datagram, size_t datagram_leng
         "received less fields than minimum fields (actual: %zu, minimum: %zu), ignoring scan", count, HEADER_FIELDS);
     ROS_WARN("are you using the correct node? (124 --> sick_tim310_1130000m01, > 33 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)");
     // ROS_DEBUG("received message was: %s", datagram_copy);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   if (strcmp(fields[15], "0"))
   {
     ROS_WARN("Field 15 of received data is not equal to 0 (%s). Unexpected data, ignoring scan", fields[15]);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   if (strcmp(fields[20], "DIST1"))
   {
     ROS_WARN("Field 20 of received data is not equal to DIST1i (%s). Unexpected data, ignoring scan", fields[20]);
-    return EXIT_FAILURE;
+    return ExitError;
   }
 
   // More in depth checks: check data length and RSSI availability
@@ -110,12 +110,12 @@ int SickTim5512050001Parser::parse_datagram(char* datagram, size_t datagram_leng
   if (number_of_data < 1 || number_of_data > 811)
   {
     ROS_WARN("Data length is outside acceptable range 1-811 (%d). Ignoring scan", number_of_data);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   if (count < HEADER_FIELDS + number_of_data)
   {
     ROS_WARN("Less fields than expected for %d data points (%zu). Ignoring scan", number_of_data, count);
-    return EXIT_FAILURE;
+    return ExitError;
   }
   ROS_DEBUG("Number of data: %d", number_of_data);
 
@@ -133,15 +133,15 @@ int SickTim5512050001Parser::parse_datagram(char* datagram, size_t datagram_leng
     if (number_of_rssi_data != number_of_data)
     {
       ROS_WARN("Number of RSSI data is lower than number of range data (%d vs %d", number_of_data, number_of_rssi_data);
-      return EXIT_FAILURE;
+      return ExitError;
     }
 
     // Check if the total length is still appropriate.
     // RSSI data size = number of RSSI readings + 6 fields describing the data
     if (count < HEADER_FIELDS + number_of_data + number_of_rssi_data + 6)
     {
       ROS_WARN("Less fields than expected for %d data points (%zu). Ignoring scan", number_of_data, count);
-      return EXIT_FAILURE;
+      return ExitError;
     }
 
     if (strcmp(fields[rssi_idx + 1], "RSSI1"))
@@ -304,7 +304,7 @@ int SickTim5512050001Parser::parse_datagram(char* datagram, size_t datagram_leng
        expected_time_increment, msg.time_increment);
  }
 
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 void SickTim5512050001Parser::set_range_min(float min)

diff --git a/src/sick_tim_common.cpp b/src/sick_tim_common.cpp
@@ -152,7 +152,7 @@ int SickTimCommon::init_scanner()
   diagnostics_.setHardwareID(identStr + " " + serialStr);
 
   if (!isCompatibleDevice(identStr))
-    return EXIT_FATAL;
+    return ExitFatal;
 
   /*
    * Read the SOPAS variable 'FirmwareVersion' by name.
@@ -174,10 +174,10 @@ int SickTimCommon::init_scanner()
   {
     ROS_ERROR("SOPAS - Error starting to stream 'LMDscandata'.");
     diagnostics_.broadcast(diagnostic_msgs::DiagnosticStatus::ERROR, "SOPAS - Error starting to stream 'LMDscandata'.");
-    return EXIT_FAILURE;
+    return ExitError;
   }
 
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 bool sick_tim::SickTimCommon::isCompatibleDevice(const std::string identStr) const
@@ -213,14 +213,14 @@ int SickTimCommon::loopOnce()
   {
       ROS_ERROR("Read Error when getting datagram: %i.", result);
       diagnostics_.broadcast(diagnostic_msgs::DiagnosticStatus::ERROR, "Read Error when getting datagram.");
-      return EXIT_FAILURE; // return failure to exit node
+      return ExitError; // return failure to exit node
   }
   if(actual_length <= 0)
-      return EXIT_SUCCESS; // return success to continue looping
+      return ExitSuccess; // return success to continue looping
 
   // ----- if requested, skip frames
   if (iteration_count++ % (config_.skip + 1) != 0)
-    return EXIT_SUCCESS;
+    return ExitSuccess;
 
   if (publish_datagram_)
   {
@@ -242,12 +242,12 @@ int SickTimCommon::loopOnce()
     *dend = '\0';
     dstart++;
     int success = parser_->parse_datagram(dstart, dlength, config_, msg);
-    if (success == EXIT_SUCCESS)
+    if (success == ExitSuccess)
       diagnosticPub_->publish(msg);
     buffer_pos = dend + 1;
   }
 
-  return EXIT_SUCCESS; // return success to continue looping
+  return ExitSuccess; // return success to continue looping
 }
 
 void SickTimCommon::check_angle_range(SickTimConfig &conf)

diff --git a/src/sick_tim_common_mockup.cpp b/src/sick_tim_common_mockup.cpp
@@ -59,7 +59,7 @@ int SickTimCommonMockup::close_device()
 int SickTimCommonMockup::sendSOPASCommand(const char* request, std::vector<unsigned char> * reply)
 {
   ROS_ERROR("Mockup - sendSOPASCommand(), this should never be called");
-  return EXIT_FAILURE;
+  return ExitError;
 }
 
 /*
@@ -68,7 +68,7 @@ int SickTimCommonMockup::sendSOPASCommand(const char* request, std::vector<unsig
 int SickTimCommonMockup::init_device()
 {
   ROS_INFO("Mockup - init_device()");
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 /*
@@ -77,7 +77,7 @@ int SickTimCommonMockup::init_device()
 int SickTimCommonMockup::init_scanner()
 {
   ROS_INFO("Mockup - init_scanner()");
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 int SickTimCommonMockup::get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length)
@@ -88,7 +88,7 @@ int SickTimCommonMockup::get_datagram(unsigned char* receiveBuffer, int bufferSi
   while(!datagram_msg_)
   {
     if (!ros::ok())
-      return EXIT_FAILURE;
+      return ExitError;
 
     ros::Duration(0.01).sleep();
     ros::spinOnce();
@@ -103,12 +103,12 @@ int SickTimCommonMockup::get_datagram(unsigned char* receiveBuffer, int bufferSi
   if (bufferSize < *actual_length + 1)
   {
     ROS_ERROR("Mockup - Buffer too small!");
-    return EXIT_FAILURE;
+    return ExitError;
   }
 
   strncpy(reinterpret_cast<char *>(receiveBuffer), &str[0], *actual_length + 1);
 
-  return EXIT_SUCCESS;
+  return ExitSuccess;
 }
 
 void SickTimCommonMockup::datagramCB(const std_msgs::String::ConstPtr &msg)