check.h File Reference

Error-check convenience macros for the nros C API. More...

#include "rclc/types.h"

Include dependency graph for check.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros
#define	RCLC_CHECK(call)
#define	RCLC_CHECK_LOG(file, line, expr, ret)    ((void)(file), (void)(line), (void)(expr), (void)(ret))
#define	RCLC_CHECK_RET(call, retval)
#define	RCLC_SOFTCHECK(call)

Detailed Description

Error-check convenience macros for the nros C API.

Wraps the common "call returns rcl_ret_t; on failure log and bail" pattern in one-liners so example main()s and user code don't open-code 4-line check blocks at every API site.

Pattern parity with rclc:

• RCLC_CHECK(call) — fatal: log and return from the enclosing void function.
• RCLC_SOFTCHECK(call) — non-fatal: log and continue.

The macros log file:line, the literal call text, and the integer return code. Issue 0332 — the default logger is printf ONLY on a hosted target (__STDC_HOSTED__) or when RCLC_CHECK_STDIO is defined; on a freestanding embedded target it defaults to a no-op, so a no_std C node does not silently pull <stdio.h> into every TU.

Override the log function by defining RCLC_CHECK_LOG(file, line, expr, ret) before including this header (e.g. to route through a board's UART, RTT, or nros-log), or define RCLC_CHECK_STDIO to force the printf form on a freestanding target.

Copyright 2026 nros contributors Licensed under Apache-2.0

Macro Definition Documentation

RCLC_CHECK

#define RCLC_CHECK

(

call

)

Value:

    do {                                                                                           \
        rcl_ret_t _nros_check_ret = (call);                                                        \
        if (_nros_check_ret != RCL_RET_OK) {                                                       \
            RCLC_CHECK_LOG(__FILE__, __LINE__, #call, _nros_check_ret);                            \
            return;                                                                                \
        }                                                                                          \
    } while (0)

Fatal check: evaluate call once; if the returned rcl_ret_t is not RCL_RET_OK, log the failure and return from the enclosing function (which must return void or accept a bare return;).

RCLC_CHECK_LOG

#define RCLC_CHECK_LOG	(		file,
			line,
			expr,
			ret
	)		((void)(file), (void)(line), (void)(expr), (void)(ret))

RCLC_CHECK_RET

#define RCLC_CHECK_RET	(		call,
			retval
	)

Value:

    do {                                                                                           \
        rcl_ret_t _nros_check_ret = (call);                                                        \
        if (_nros_check_ret != RCL_RET_OK) {                                                       \
            RCLC_CHECK_LOG(__FILE__, __LINE__, #call, _nros_check_ret);                            \
            return (retval);                                                                       \
        }                                                                                          \
    } while (0)

Like RCLC_CHECK but for callers that need a custom return value (non-void functions). Returns retval on failure.

RCLC_SOFTCHECK

#define RCLC_SOFTCHECK

(

call

)

Value:

    do {                                                                                           \
        rcl_ret_t _nros_softcheck_ret = (call);                                                    \
        if (_nros_softcheck_ret != RCL_RET_OK) {                                                   \
            RCLC_CHECK_LOG(__FILE__, __LINE__, #call, _nros_softcheck_ret);                        \
        }                                                                                          \
    } while (0)

Non-fatal check: evaluate call once; on failure, log and continue. Use for "best effort" calls (e.g. publishing a heartbeat) where one dropped iteration shouldn't tear down the node.