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Change TF2Error names to be a bit more descriptive. #349

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Sep 16, 2021
Merged

Change TF2Error names to be a bit more descriptive. #349

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2 changes: 1 addition & 1 deletion tf2/include/tf2/buffer_core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,7 @@ class BufferCore : public BufferCoreInterface
void cancelTransformableRequest(TransformableRequestHandle handle);


// Tell the buffer that there are multiple threads serviciing it.
// Tell the buffer that there are multiple threads servicing it.
// This is useful for derived classes to know if they can block or not.
TF2_PUBLIC
void setUsingDedicatedThread(bool value) {using_dedicated_thread_ = value;}
Expand Down
48 changes: 41 additions & 7 deletions tf2/include/tf2/exceptions.h
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Expand Up @@ -40,17 +40,51 @@
namespace tf2
{

// TODO(clalancette): We can remove these workarounds when we remove the
// deprecated TF2Error enums.
#if defined(_WIN32)
#pragma push_macro("NO_ERROR")
#undef NO_ERROR
#endif
#if defined(__APPLE__)
// The clang compiler on Apple claims that [[deprecated]] on an enumerator value
// is a C++17 feature, when it was really introduced in C++14. Ignore that
// warning when defining the structure; this whole thing will go away when we
// remove the deprecated values.
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wc++17-extensions"
#endif

enum class TF2Error : std::uint8_t
{
NO_ERROR = 0,
LOOKUP_ERROR = 1,
CONNECTIVITY_ERROR = 2,
EXTRAPOLATION_ERROR = 3,
INVALID_ARGUMENT_ERROR = 4,
TIMEOUT_ERROR = 5,
TRANSFORM_ERROR = 6
// While the TF2_ prefix here is a bit redundant, it also prevents us from
// colliding with Windows defines (specifically, NO_ERROR).
TF2_NO_ERROR = 0,
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TF2_LOOKUP_ERROR = 1,
TF2_CONNECTIVITY_ERROR = 2,
TF2_EXTRAPOLATION_ERROR = 3,
TF2_INVALID_ARGUMENT_ERROR = 4,
TF2_TIMEOUT_ERROR = 5,
TF2_TRANSFORM_ERROR = 6,

NO_ERROR [[deprecated("Use TF2_NO_ERROR instead")]] = 0,
LOOKUP_ERROR [[deprecated("Use TF2_LOOKUP_ERROR instead")]] = 1,
CONNECTIVITY_ERROR [[deprecated("Use TF2_CONNECTIVITY_ERROR instead")]] = 2,
EXTRAPOLATION_ERROR [[deprecated("Use TF2_EXTRAPOLATION_ERROR instead")]] = 3,
INVALID_ARGUMENT_ERROR [[deprecated("Use TF2_INVALID_ARGUMENT_ERROR instead")]] = 4,
TIMEOUT_ERROR [[deprecated("Use TF2_TIMEOUT_ERROR instead")]] = 5,
TRANSFORM_ERROR [[deprecated("Use TF2_TRANSFORM_ERROR instead")]] = 6
};

// TODO(clalancette): We can remove these workarounds when we remove the
// deprecated TF2Error enums.
#if defined(__APPLE__)
#pragma clang diagnostic pop
#endif
#if defined(_WIN32)
#pragma pop_macro("NO_ERROR")
#endif

/** \brief A base class for all tf2 exceptions
* This inherits from ros::exception
* which inherits from std::runtime_exception
Expand Down
62 changes: 31 additions & 31 deletions tf2/src/buffer_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -408,13 +408,13 @@ tf2::TF2Error BufferCore::walkToTopParent(
// Short circuit if zero length transform to allow lookups on non existant links
if (source_id == target_id) {
f.finalize(Identity, time);
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

// If getting the latest get the latest common time
if (time == TimePointZero) {
tf2::TF2Error retval = getLatestCommonTime(target_id, source_id, time, error_string);
if (retval != tf2::TF2Error::NO_ERROR) {
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
return retval;
}
}
Expand Down Expand Up @@ -450,7 +450,7 @@ tf2::TF2Error BufferCore::walkToTopParent(
// Early out... target frame is a direct parent of the source frame
if (frame == target_id) {
f.finalize(TargetParentOfSource, time);
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

f.accum(true);
Expand All @@ -466,7 +466,7 @@ tf2::TF2Error BufferCore::walkToTopParent(
allFramesAsStringNoLock() << std::endl;
*error_string = ss.str();
}
return tf2::TF2Error::LOOKUP_ERROR;
return tf2::TF2Error::TF2_LOOKUP_ERROR;
}
}

Expand Down Expand Up @@ -494,7 +494,7 @@ tf2::TF2Error BufferCore::walkToTopParent(
*error_string = ss.str();
}

return tf2::TF2Error::EXTRAPOLATION_ERROR;
return tf2::TF2Error::TF2_EXTRAPOLATION_ERROR;
}

// Early out... source frame is a direct parent of the target frame
Expand All @@ -503,7 +503,7 @@ tf2::TF2Error BufferCore::walkToTopParent(
if (frame_chain) {
frame_chain->swap(reverse_frame_chain);
}
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

f.accum(false);
Expand All @@ -518,7 +518,7 @@ tf2::TF2Error BufferCore::walkToTopParent(
allFramesAsStringNoLock() << std::endl;
*error_string = ss.str();
}
return tf2::TF2Error::LOOKUP_ERROR;
return tf2::TF2Error::TF2_LOOKUP_ERROR;
}
}

Expand All @@ -530,10 +530,10 @@ tf2::TF2Error BufferCore::walkToTopParent(
lookupFrameString(source_id) << "] to frame [" << lookupFrameString(target_id) << "]";
*error_string = ss.str();
}
return tf2::TF2Error::EXTRAPOLATION_ERROR;
return tf2::TF2Error::TF2_EXTRAPOLATION_ERROR;
}
createConnectivityErrorString(source_id, target_id, error_string);
return tf2::TF2Error::CONNECTIVITY_ERROR;
return tf2::TF2Error::TF2_CONNECTIVITY_ERROR;
}

f.finalize(FullPath, time);
Expand Down Expand Up @@ -562,7 +562,7 @@ tf2::TF2Error BufferCore::walkToTopParent(
}
}

return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

struct TransformAccum
Expand Down Expand Up @@ -730,13 +730,13 @@ void BufferCore::lookupTransformImpl(
std::string error_string;
TransformAccum accum;
tf2::TF2Error retval = walkToTopParent(accum, time, target_id, source_id, &error_string);
if (retval != tf2::TF2Error::NO_ERROR) {
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
switch (retval) {
case tf2::TF2Error::CONNECTIVITY_ERROR:
case tf2::TF2Error::TF2_CONNECTIVITY_ERROR:
throw ConnectivityException(error_string);
case tf2::TF2Error::EXTRAPOLATION_ERROR:
case tf2::TF2Error::TF2_EXTRAPOLATION_ERROR:
throw ExtrapolationException(error_string);
case tf2::TF2Error::LOOKUP_ERROR:
case tf2::TF2Error::TF2_LOOKUP_ERROR:
throw LookupException(error_string);
default:
CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
Expand Down Expand Up @@ -806,7 +806,7 @@ bool BufferCore::canTransformNoLock(
}

CanTransformAccum accum;
if (walkToTopParent(accum, time, target_id, source_id, error_msg) == tf2::TF2Error::NO_ERROR) {
if (walkToTopParent(accum, time, target_id, source_id, error_msg) == tf2::TF2Error::TF2_NO_ERROR) {
return true;
}

Expand Down Expand Up @@ -988,7 +988,7 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
TimePoint & time, std::string * error_string) const
{
// Error if one of the frames don't exist.
if (source_id == 0 || target_id == 0) {return tf2::TF2Error::LOOKUP_ERROR;}
if (source_id == 0 || target_id == 0) {return tf2::TF2Error::TF2_LOOKUP_ERROR;}

if (source_id == target_id) {
TimeCacheInterfacePtr cache = getFrame(source_id);
Expand All @@ -998,7 +998,7 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
} else {
time = TimePointZero;
}
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

std::vector<P_TimeAndFrameID> lct_cache;
Expand Down Expand Up @@ -1037,7 +1037,7 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
if (time == TimePoint::max()) {
time = TimePointZero;
}
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

++depth;
Expand All @@ -1048,7 +1048,7 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
allFramesAsStringNoLock() << std::endl;
*error_string = ss.str();
}
return tf2::TF2Error::LOOKUP_ERROR;
return tf2::TF2Error::TF2_LOOKUP_ERROR;
}
}

Expand Down Expand Up @@ -1091,7 +1091,7 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
if (time == TimePoint::max()) {
time = TimePointZero;
}
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

++depth;
Expand All @@ -1102,13 +1102,13 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
allFramesAsStringNoLock() << std::endl;
*error_string = ss.str();
}
return tf2::TF2Error::LOOKUP_ERROR;
return tf2::TF2Error::TF2_LOOKUP_ERROR;
}
}

if (common_parent == 0) {
createConnectivityErrorString(source_id, target_id, error_string);
return tf2::TF2Error::CONNECTIVITY_ERROR;
return tf2::TF2Error::TF2_CONNECTIVITY_ERROR;
}

// Loop through the source -> root list until we hit the common parent
Expand All @@ -1131,7 +1131,7 @@ tf2::TF2Error BufferCore::getLatestCommonTime(
}

time = common_time;
return tf2::TF2Error::NO_ERROR;
return tf2::TF2Error::TF2_NO_ERROR;
}

std::string BufferCore::allFramesAsYAML(TimePoint current_time) const
Expand Down Expand Up @@ -1525,13 +1525,13 @@ void BufferCore::_chainAsVector(
tf2::TF2Error retval = walkToTopParent(
accum, source_time, fixed_id, source_id, &error_string,
&source_frame_chain);
if (retval != tf2::TF2Error::NO_ERROR) {
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
switch (retval) {
case tf2::TF2Error::CONNECTIVITY_ERROR:
case tf2::TF2Error::TF2_CONNECTIVITY_ERROR:
throw ConnectivityException(error_string);
case tf2::TF2Error::EXTRAPOLATION_ERROR:
case tf2::TF2Error::TF2_EXTRAPOLATION_ERROR:
throw ExtrapolationException(error_string);
case tf2::TF2Error::LOOKUP_ERROR:
case tf2::TF2Error::TF2_LOOKUP_ERROR:
throw LookupException(error_string);
default:
CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
Expand All @@ -1545,13 +1545,13 @@ void BufferCore::_chainAsVector(
accum, target_time, target_id, fixed_id, &error_string,
&target_frame_chain);

if (retval != tf2::TF2Error::NO_ERROR) {
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
switch (retval) {
case tf2::TF2Error::CONNECTIVITY_ERROR:
case tf2::TF2Error::TF2_CONNECTIVITY_ERROR:
throw ConnectivityException(error_string);
case tf2::TF2Error::EXTRAPOLATION_ERROR:
case tf2::TF2Error::TF2_EXTRAPOLATION_ERROR:
throw ExtrapolationException(error_string);
case tf2::TF2Error::LOOKUP_ERROR:
case tf2::TF2Error::TF2_LOOKUP_ERROR:
throw LookupException(error_string);
default:
CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
Expand Down
2 changes: 1 addition & 1 deletion tf2_py/src/tf2_py.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -505,7 +505,7 @@ static PyObject * getLatestCommonTime(PyObject * self, PyObject * args)
WRAP(source_id = bc->_validateFrameId("get_latest_common_time", source_frame));
const tf2::TF2Error r = bc->_getLatestCommonTime(target_id, source_id, tf2_time, &error_string);

if (r != tf2::TF2Error::NO_ERROR) {
if (r != tf2::TF2Error::TF2_NO_ERROR) {
PyErr_SetString(tf2_exception, error_string.c_str());
return nullptr;
}
Expand Down