[rcl action] Action client first implementation.
This commit is contained in:
Michel Hidalgo
parent
9351fd89c7
commit
16205873ea
3 changed files with 740 additions and 8 deletions
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@ -32,6 +32,7 @@ add_executable(test_compile_headers
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)
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set(rcl_action_sources
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src/${PROJECT_NAME}/action_client.c
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src/${PROJECT_NAME}/goal_handle.c
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src/${PROJECT_NAME}/goal_state_machine.c
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src/${PROJECT_NAME}/names.c
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@ -72,6 +73,17 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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ament_find_gtest()
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# Gtests
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# ament_add_gtest(test_action_client
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# test/rcl_action/test_action_client.cpp
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# )
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# if(TARGET test_action_client)
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# target_include_directories(test_action_client PUBLIC
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# ${rcl_INCLUDE_DIRS}
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# )
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# target_link_libraries(test_action_client
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# ${PROJECT_NAME}
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# )
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# endif()
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ament_add_gtest(test_goal_handle
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test/rcl_action/test_goal_handle.cpp
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)
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@ -176,7 +176,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_client_init(
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rcl_action_client_t * action_client,
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const rcl_node_t * node,
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rcl_node_t * node,
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const rosidl_action_type_support_t * type_support,
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const char * action_name,
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const rcl_action_client_options_t * options);
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@ -355,9 +355,7 @@ rcl_action_take_goal_response(
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* Lock-Free | Yes
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* <i>[1] only if required when filling the feedback message, avoided for fixed sizes</i>
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*
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* \param[in] action_client handle to the client that will take the goal response
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* \param[out] goal_info pointer to a struct for meta-data about the goal associated
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* with taken feedback
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* \param[in] action_client handle to the client that will take action feedback
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* \param[out] ros_feedback pointer to the ROS feedback message.
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* \return `RCL_RET_OK` if the response was taken successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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@ -420,6 +418,7 @@ rcl_action_take_status(
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const rcl_action_client_t * action_client,
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void * ros_status_array);
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/// Send a request for the result of a completed goal associated with a rcl_action_client_t.
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/**
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* This is a non-blocking call.
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@ -661,7 +660,7 @@ RCL_WARN_UNUSED
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const rcl_action_client_options_t *
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rcl_action_client_get_options(const rcl_action_client_t * action_client);
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/// Check that a rcl_action_clieint_t is valid.
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/// Check that a rcl_action_client_t is valid.
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/**
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* The bool returned is `false` if `action_client` is invalid.
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* The bool returned is `true` otherwise.
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@ -677,14 +676,12 @@ rcl_action_client_get_options(const rcl_action_client_t * action_client);
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* Lock-Free | Yes
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*
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* \param[in] action_client pointer to the rcl action client
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* \param[in] error_msg_allocator a valid allocator or `NULL`
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* \return `true` if `action_client` is valid, otherwise `false`
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*/
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RCL_ACTION_PUBLIC
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bool
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rcl_action_client_is_valid(
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const rcl_action_client_t * action_client,
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rcl_allocator_t * error_msg_allocator);
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const rcl_action_client_t * action_client);
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#ifdef __cplusplus
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}
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723
rcl_action/src/rcl_action/action_client.c
Normal file
723
rcl_action/src/rcl_action/action_client.c
Normal file
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@ -0,0 +1,723 @@
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// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "rcl_action/action_client.h"
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#include "rcl_action/default_qos.h"
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#include "rcl_action/names.h"
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#include "rcl_action/types.h"
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#include "rcl/client.h"
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#include "rcl/error_handling.h"
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#include "rcl/subscription.h"
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#include "rcl/types.h"
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#include "rcutils/logging_macros.h"
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#include "rcutils/strdup.h"
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#include "rmw/qos_profiles.h"
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#include "rmw/types.h"
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typedef struct rcl_action_client_impl_t
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{
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rcl_client_t goal_client;
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rcl_client_t cancel_client;
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rcl_client_t result_client;
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rcl_subscription_t feedback_subscription;
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rcl_subscription_t status_subscription;
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rcl_action_client_options_t options;
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char * action_name;
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} rcl_action_client_impl_t;
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rcl_action_client_t
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rcl_action_get_zero_initialized_client(void)
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{
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static rcl_action_client_t null_action_client = {0};
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return null_action_client;
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}
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static rcl_ret_t rcl_action_goal_service_client_init(
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rcl_client_t * goal_client,
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const rcl_node_t * node,
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const rosidl_service_type_support_t * goal_service_type_support,
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const char * action_name,
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const rcl_client_options_t * goal_client_options)
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{
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assert(NULL != goal_client);
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assert(NULL != node);
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assert(NULL != goal_service_type_support);
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assert(NULL != action_name);
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assert(NULL != goal_client_options);
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rcl_ret_t ret;
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rcl_allocator_t allocator = goal_client_options->allocator;
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char * goal_service_name = NULL;
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ret = rcl_action_get_goal_service_name(
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action_name, allocator, &goal_service_name);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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return ret;
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}
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*goal_client = rcl_get_zero_initialized_client();
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ret = rcl_client_init(
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goal_client, node,
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goal_service_type_support,
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goal_service_name,
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goal_client_options);
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allocator.deallocate(goal_service_name, allocator.state);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_SERVICE_NAME_INVALID == ret) {
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ret = RCL_RET_ACTION_NAME_INVALID;
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} else if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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}
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return ret;
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}
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static rcl_ret_t rcl_action_cancel_service_client_init(
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rcl_client_t * cancel_client,
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const rcl_node_t * node,
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const rosidl_service_type_support_t * cancel_service_type_support,
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const char * action_name,
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const rcl_client_options_t * cancel_client_options)
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{
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assert(NULL != cancel_client);
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assert(NULL != node);
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assert(NULL != cancel_service_type_support);
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assert(NULL != action_name);
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assert(NULL != cancel_client_options);
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rcl_ret_t ret;
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rcl_allocator_t allocator = cancel_client_options->allocator;
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char * cancel_service_name = NULL;
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ret = rcl_action_get_cancel_service_name(
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action_name, allocator, &cancel_service_name);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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return ret;
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}
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*cancel_client = rcl_get_zero_initialized_client();
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ret = rcl_client_init(
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cancel_client, node,
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cancel_service_type_support,
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cancel_service_name,
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cancel_client_options);
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allocator.deallocate(cancel_service_name, allocator.state);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_SERVICE_NAME_INVALID == ret) {
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ret = RCL_RET_ACTION_NAME_INVALID;
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} else if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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}
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return ret;
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}
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static rcl_ret_t rcl_action_result_client_init(
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rcl_client_t * result_client,
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const rcl_node_t * node,
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const rosidl_service_type_support_t * result_service_type_support,
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const char * action_name,
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const rcl_client_options_t * result_client_options)
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{
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assert(NULL != result_client);
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assert(NULL != node);
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assert(NULL != result_service_type_support);
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assert(NULL != action_name);
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assert(NULL != result_client_options);
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rcl_ret_t ret;
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rcl_allocator_t allocator = result_client_options->allocator;
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char * result_service_name = NULL;
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ret = rcl_action_get_result_service_name(
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action_name, allocator, &result_service_name);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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return ret;
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}
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*result_client = rcl_get_zero_initialized_client();
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ret = rcl_client_init(
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result_client, node,
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result_service_type_support,
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result_service_name,
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result_client_options);
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allocator.deallocate(result_service_name, allocator.state);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_SERVICE_NAME_INVALID == ret) {
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ret = RCL_RET_ACTION_NAME_INVALID;
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} else if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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}
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return ret;
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}
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static rcl_ret_t rcl_action_feedback_subscription_init(
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rcl_subscription_t * feedback_subscription,
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const rcl_node_t * node,
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const rosidl_message_type_support_t * feedback_message_type_support,
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const char * action_name,
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const rcl_subscription_options_t * feedback_subscription_options)
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{
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assert(NULL != feedback_subscription);
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assert(NULL != node);
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assert(NULL != feedback_message_type_support);
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assert(NULL != action_name);
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assert(NULL != feedback_subscription_options);
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rcl_ret_t ret;
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rcl_allocator_t allocator = feedback_subscription_options->allocator;
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char * feedback_topic_name = NULL;
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ret = rcl_action_get_feedback_topic_name(
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action_name, allocator,
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&feedback_topic_name);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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return ret;
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}
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*feedback_subscription = rcl_get_zero_initialized_subscription();
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ret = rcl_subscription_init(
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feedback_subscription, node,
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feedback_message_type_support,
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feedback_topic_name,
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feedback_subscription_options);
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allocator.deallocate(feedback_topic_name, allocator.state);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_SERVICE_NAME_INVALID == ret) {
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ret = RCL_RET_ACTION_NAME_INVALID;
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} else if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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}
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return ret;
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}
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static rcl_ret_t rcl_action_status_subscription_init(
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rcl_subscription_t * status_subscription, const rcl_node_t * node,
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const rosidl_message_type_support_t * status_message_type_support,
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const char * action_name,
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const rcl_subscription_options_t * status_subscription_options)
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{
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assert(NULL != status_subscription);
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assert(NULL != node);
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assert(NULL != status_message_type_support);
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assert(NULL != action_name);
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assert(NULL != status_subscription_options);
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rcl_ret_t ret;
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rcl_allocator_t allocator = status_subscription_options->allocator;
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char * status_topic_name = NULL;
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ret = rcl_action_get_status_topic_name(
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action_name, allocator, &status_topic_name);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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return ret;
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}
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*status_subscription = rcl_get_zero_initialized_subscription();
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ret = rcl_subscription_init(
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status_subscription, node,
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status_message_type_support,
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status_topic_name,
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status_subscription_options);
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allocator.deallocate(status_topic_name, allocator.state);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_SERVICE_NAME_INVALID == ret) {
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ret = RCL_RET_ACTION_NAME_INVALID;
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} else if (RCL_RET_BAD_ALLOC != ret) {
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ret = RCL_RET_ERROR;
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}
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}
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return ret;
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}
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rcl_ret_t
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rcl_action_client_init(
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rcl_action_client_t * action_client,
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rcl_node_t * node,
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const rosidl_action_type_support_t * type_support,
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const char * action_name,
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const rcl_action_client_options_t * options)
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{
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Initializing action client");
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RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
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rcl_allocator_t * allocator = (rcl_allocator_t *)&options->allocator;
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RCL_CHECK_ALLOCATOR_WITH_MSG(
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allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
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RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
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RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
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if (!rcl_node_is_valid(node)) {
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return RCL_RET_NODE_INVALID;
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}
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RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
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RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT);
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Initializing client for action name '%s'", action_name);
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// Allocate space for the implementation struct.
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rcl_action_client_impl_t *impl = allocator->allocate(
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sizeof(rcl_action_client_impl_t), allocator->state);
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RCL_CHECK_FOR_NULL_WITH_MSG(impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
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impl->action_name = rcutils_strdup(action_name, *((rcutils_allocator_t *)allocator));
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if (NULL == impl->action_name) {
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allocator->deallocate(impl, allocator->state);
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return RCL_RET_BAD_ALLOC;
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}
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Initializing action goal client");
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rcl_client_options_t goal_client_options = {
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.qos = options->goal_service_qos, .allocator = *allocator
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};
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rcl_ret_t ret, critical_ret;
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ret = rcl_action_goal_service_client_init(
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&impl->goal_client, node,
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&type_support->goal_service_type_support,
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impl->action_name, &goal_client_options);
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if (RCL_RET_OK == ret) {
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Initializing action cancel client");
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rcl_client_options_t cancel_client_options = {
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.qos = options->cancel_service_qos, .allocator = *allocator
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};
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ret = rcl_action_cancel_service_client_init(
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&impl->cancel_client, node,
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&type_support->cancel_service_type_support,
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impl->action_name, &cancel_client_options);
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if (RCL_RET_OK == ret) {
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Action cancel client initialized");
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rcl_client_options_t result_client_options = {
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.qos = options->result_service_qos, .allocator = *allocator
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};
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Initializing action result client");
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ret = rcl_action_result_client_init(
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&impl->result_client, node,
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&type_support->result_service_type_support,
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impl->action_name, &result_client_options);
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if (RCL_RET_OK == ret) {
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Action cancel result initialized");
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rcl_subscription_options_t feedback_subscription_options = {
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.qos = options->feedback_topic_qos,
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.ignore_local_publications = false,
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.allocator = *allocator
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||||
};
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Initializing action feedback subscription");
|
||||
ret = rcl_action_feedback_subscription_init(
|
||||
&impl->feedback_subscription, node,
|
||||
&type_support->feedback_topic_type_support,
|
||||
impl->action_name, &feedback_subscription_options);
|
||||
if (RCL_RET_OK == ret) {
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Action feedback subscription initialized");
|
||||
rcl_subscription_options_t status_subscription_options = {
|
||||
.qos = options->status_topic_qos,
|
||||
.ignore_local_publications = false,
|
||||
.allocator = *allocator
|
||||
};
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Initializing action status subscription");
|
||||
ret = rcl_action_status_subscription_init(
|
||||
&impl->status_subscription, node,
|
||||
&type_support->status_topic_type_support,
|
||||
impl->action_name, &status_subscription_options);
|
||||
if (RCL_RET_OK == ret) {
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Action status subscription initialized");
|
||||
action_client->impl->options = *options;
|
||||
action_client->impl = impl;
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Finalizing action feedback subscription");
|
||||
critical_ret = rcl_subscription_fini(&impl->feedback_subscription, node);
|
||||
if (RCL_RET_OK != critical_ret) {
|
||||
RCL_SET_ERROR_MSG("cleanup after error failed, "
|
||||
"system left inconsistent\n");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Action feedback subscription finalized");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Finalizing action result client");
|
||||
critical_ret = rcl_client_fini(&impl->result_client, node);
|
||||
if (RCL_RET_OK != critical_ret) {
|
||||
RCL_SET_ERROR_MSG("cleanup after error failed, "
|
||||
"system left inconsistent\n");
|
||||
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Action result client finalized");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Finalizing action cancel client");
|
||||
critical_ret = rcl_client_fini(&impl->cancel_client, node);
|
||||
if (RCL_RET_OK != critical_ret) {
|
||||
RCL_SET_ERROR_MSG("cleanup after error failed, "
|
||||
"system left inconsistent\n");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Action cancel client finalized");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Finalizing action goal client");
|
||||
critical_ret = rcl_client_fini(&impl->goal_client, node);
|
||||
if (RCL_RET_OK != critical_ret) {
|
||||
RCL_SET_ERROR_MSG("cleanup after error failed, "
|
||||
"system left inconsistent\n");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Action goal client finalized");
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(
|
||||
ROS_PACKAGE_NAME, "Failed to initialize action client");
|
||||
allocator->deallocate(impl->action_name, allocator->state);
|
||||
allocator->deallocate(impl, allocator->state);
|
||||
return ret;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing action client");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
if (!rcl_node_is_valid(node)) {
|
||||
return RCL_RET_NODE_INVALID;
|
||||
}
|
||||
rcl_ret_t ret = RCL_RET_OK;
|
||||
if (action_client->impl) {
|
||||
// TODO(hidmic): ideally we should rollback to a valid state if any
|
||||
// finalization failed, but it seems that's currently
|
||||
// not possible.
|
||||
rcl_action_client_impl_t * impl = action_client->impl;
|
||||
if (rcl_client_is_valid(&impl->goal_client)) {
|
||||
ret = rcl_client_fini(&impl->goal_client, node);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
}
|
||||
if (rcl_client_is_valid(&impl->cancel_client)) {
|
||||
ret = rcl_client_fini(&impl->cancel_client, node);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
}
|
||||
if (rcl_client_is_valid(&impl->result_client)) {
|
||||
ret = rcl_client_fini(&impl->result_client, node);
|
||||
if (ret != RCL_RET_OK) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
}
|
||||
if (rcl_subscription_is_valid(&impl->feedback_subscription)) {
|
||||
ret = rcl_subscription_fini(&impl->feedback_subscription, node);
|
||||
if (ret != RCL_RET_OK) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
}
|
||||
if (rcl_subscription_is_valid(&impl->status_subscription)) {
|
||||
ret = rcl_subscription_fini(&impl->status_subscription, node);
|
||||
if (ret != RCL_RET_OK) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
}
|
||||
rcl_allocator_t * allocator = &impl->options.allocator;
|
||||
allocator->deallocate(action_client->impl, allocator->state);
|
||||
action_client->impl = NULL;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client finalized");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_action_client_options_t
|
||||
rcl_action_client_get_default_options(void)
|
||||
{
|
||||
static rcl_action_client_options_t default_options;
|
||||
default_options.goal_service_qos = rmw_qos_profile_services_default;
|
||||
default_options.cancel_service_qos = rmw_qos_profile_services_default;
|
||||
default_options.result_service_qos = rmw_qos_profile_services_default;
|
||||
default_options.feedback_topic_qos = rmw_qos_profile_default;
|
||||
default_options.status_topic_qos = rcl_action_qos_profile_status_default;
|
||||
default_options.allocator = rcl_get_default_allocator();
|
||||
return default_options;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_send_goal_request(
|
||||
const rcl_action_client_t * action_client,
|
||||
const void * ros_goal_request)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action goal request");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_goal_request, RCL_RET_INVALID_ARGUMENT);
|
||||
int64_t ignored_sequence_number;
|
||||
rcl_ret_t ret = rcl_send_request(
|
||||
&action_client->impl->goal_client,
|
||||
ros_goal_request, &ignored_sequence_number);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action goal request sent");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_take_goal_response(
|
||||
const rcl_action_client_t * action_client,
|
||||
void * ros_goal_response)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action goal response");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_goal_response, RCL_RET_INVALID_ARGUMENT);
|
||||
rmw_request_id_t ignored_request_header;
|
||||
rcl_ret_t ret = rcl_take_response(
|
||||
&action_client->impl->goal_client,
|
||||
&ignored_request_header, ros_goal_response);
|
||||
if (RCL_RET_OK != ret) {
|
||||
if (RCL_RET_CLIENT_TAKE_FAILED == ret) {
|
||||
ret = RCL_RET_ACTION_CLIENT_TAKE_FAILED;
|
||||
} else {
|
||||
ret = RCL_RET_ERROR;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action goal response taken");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_take_feedback(
|
||||
const rcl_action_client_t * action_client,
|
||||
void * ros_feedback)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action feedback");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_feedback, RCL_RET_INVALID_ARGUMENT);
|
||||
rmw_message_info_t ignored_message_info;
|
||||
rcl_ret_t ret = rcl_take(
|
||||
&action_client->impl->feedback_subscription,
|
||||
ros_feedback, &ignored_message_info);
|
||||
if (RCL_RET_OK != ret) {
|
||||
if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
|
||||
ret = RCL_RET_ACTION_CLIENT_TAKE_FAILED;
|
||||
} else if (RCL_RET_BAD_ALLOC != ret) {
|
||||
ret = RCL_RET_ERROR;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action feedback taken");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_take_status(
|
||||
const rcl_action_client_t * action_client,
|
||||
void * ros_status_array)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action status");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_status_array, RCL_RET_INVALID_ARGUMENT);
|
||||
rmw_message_info_t ignored_message_info;
|
||||
rcl_ret_t ret = rcl_take(
|
||||
&action_client->impl->status_subscription,
|
||||
ros_status_array, &ignored_message_info);
|
||||
if (RCL_RET_OK != ret) {
|
||||
if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
|
||||
ret = RCL_RET_ACTION_CLIENT_TAKE_FAILED;
|
||||
} else if (RCL_RET_BAD_ALLOC != ret) {
|
||||
ret = RCL_RET_ERROR;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action status taken");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_send_result_request(
|
||||
const rcl_action_client_t * action_client,
|
||||
const void * ros_result_request)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action result request");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_result_request, RCL_RET_INVALID_ARGUMENT);
|
||||
int64_t ignored_sequence_number;
|
||||
rcl_ret_t ret = rcl_send_request(
|
||||
&action_client->impl->result_client,
|
||||
ros_result_request, &ignored_sequence_number);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action result request sent");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_take_result_response(
|
||||
const rcl_action_client_t * action_client,
|
||||
void * ros_result)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action result response");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_result, RCL_RET_INVALID_ARGUMENT);
|
||||
rmw_request_id_t ignored_response_header;
|
||||
rcl_ret_t ret = rcl_take_response(
|
||||
&action_client->impl->result_client,
|
||||
&ignored_response_header, ros_result);
|
||||
if (RCL_RET_OK != ret) {
|
||||
if (RCL_RET_CLIENT_TAKE_FAILED == ret) {
|
||||
ret = RCL_RET_ACTION_CLIENT_TAKE_FAILED;
|
||||
} else if (RCL_RET_BAD_ALLOC != ret) {
|
||||
ret = RCL_RET_ERROR;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action result response taken");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_send_cancel_request(
|
||||
const rcl_action_client_t * action_client,
|
||||
const void * ros_cancel_request)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action cancel request");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_cancel_request, RCL_RET_INVALID_ARGUMENT);
|
||||
int64_t ignored_sequence_number;
|
||||
rcl_ret_t ret = rcl_send_request(
|
||||
&action_client->impl->cancel_client,
|
||||
ros_cancel_request, &ignored_sequence_number);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action cancel request sent");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_take_cancel_response(
|
||||
const rcl_action_client_t * action_client,
|
||||
void * ros_cancel_response)
|
||||
{
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action cancel response");
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID;
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(ros_cancel_response, RCL_RET_INVALID_ARGUMENT);
|
||||
rmw_request_id_t ignored_response_header;
|
||||
rcl_ret_t ret = rcl_take_response(
|
||||
&action_client->impl->cancel_client,
|
||||
&ignored_response_header, ros_cancel_response);
|
||||
if (RCL_RET_OK != ret) {
|
||||
if (RCL_RET_CLIENT_TAKE_FAILED == ret) {
|
||||
ret = RCL_RET_ACTION_CLIENT_TAKE_FAILED;
|
||||
} else if (RCL_RET_BAD_ALLOC != ret) {
|
||||
ret = RCL_RET_ERROR;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action cancel response taken");
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
const char *
|
||||
rcl_action_client_get_action_name(const rcl_action_client_t * action_client)
|
||||
{
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return NULL;
|
||||
}
|
||||
return action_client->impl->action_name;
|
||||
}
|
||||
|
||||
const rcl_action_client_options_t *
|
||||
rcl_action_client_get_options(const rcl_action_client_t * action_client) {
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return NULL;
|
||||
}
|
||||
return &action_client->impl->options;
|
||||
}
|
||||
|
||||
bool
|
||||
rcl_action_client_is_valid(const rcl_action_client_t * action_client)
|
||||
{
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, false);
|
||||
RCL_CHECK_FOR_NULL_WITH_MSG(
|
||||
action_client->impl,
|
||||
"action client's implementation is invalid",
|
||||
return false);
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
Loading…
Add table
Add a link
Reference in a new issue