Move location of from_rcl_error to avoid the need for r2r::Error to b…

…e Clone
sequenceplanner · Dec 13, 2023 · f5ba556 · f5ba556
1 parent 2e17b8e
commit f5ba556
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/r2r/src/error.rs b/r2r/src/error.rs
@@ -11,7 +11,7 @@ pub type Result<T> = std::result::Result<T, Error>;
 /// These values are mostly copied straight from the RCL headers, but
 /// some are specific to r2r, such as `GoalCancelRejected` which does
 /// not have an analogue in the rcl.
-#[derive(Error, Debug, Clone)]
+#[derive(Error, Debug)]
 pub enum Error {
     #[error("RCL_RET_OK")]
     RCL_RET_OK,

diff --git a/r2r/src/msg_types.rs b/r2r/src/msg_types.rs
@@ -36,7 +36,7 @@ pub(crate) fn uuid_msg_to_uuid(msg: &unique_identifier_msgs::msg::UUID) -> uuid:
 
 // TODO where is the best place for this?
 thread_local! {
-    pub static SERIALIZED_MESSAGE_CACHE: Result<RefCell<rcl_serialized_message_t>> = {
+    pub static SERIALIZED_MESSAGE_CACHE: std::result::Result<RefCell<rcl_serialized_message_t>, i32> = {
         use r2r_rcl::*;
 
         let mut msg_buf: rcl_serialized_message_t  = unsafe { rcutils_get_zero_initialized_uint8_array() };
@@ -50,7 +50,7 @@ thread_local! {
         };
 
         if ret != RCL_RET_OK as i32 {
-            Err(Error::from_rcl_error(ret))
+            Err(ret)
         } else {
             Ok(RefCell::new(msg_buf))
         }
@@ -94,7 +94,7 @@ pub trait WrappedTypesupport:
 
         SERIALIZED_MESSAGE_CACHE.with(|msg_buf| {
 
-            let msg_buf: &mut rcl_serialized_message_t = &mut *msg_buf.as_ref().map_err(|err| err.clone())?.borrow_mut();
+            let msg_buf: &mut rcl_serialized_message_t = &mut *msg_buf.as_ref().map_err(|err| Error::from_rcl_error(*err))?.borrow_mut();
 
             let result = unsafe { 
                 rmw_serialize(