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Rename action state transitions (#409)

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* Rename action state transitions

Now using active verbs.
Resolves #399.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-04-16 04:46:16 -07:00 • committed by GitHub
parent edaa18ae4b
commit 26744b0e5d
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 66 additions and 66 deletions
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8
rcl_action/include/rcl_action/types.h
View file

@ -97,10 +97,10 @@ typedef int8_t rcl_action_goal_state_t;
typedef enum rcl_action_goal_event_t
{
GOAL_EVENT_EXECUTE = 0,
GOAL_EVENT_CANCEL,
GOAL_EVENT_SET_SUCCEEDED,
GOAL_EVENT_SET_ABORTED,
GOAL_EVENT_SET_CANCELED,
GOAL_EVENT_CANCEL_GOAL,
GOAL_EVENT_SUCCEED,
GOAL_EVENT_ABORT,
GOAL_EVENT_CANCELED,
GOAL_EVENT_NUM_EVENTS
} rcl_action_goal_event_t;

4
rcl_action/src/rcl_action/goal_handle.c
View file

@ -147,9 +147,9 @@ rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handl
if (!rcl_action_goal_handle_is_valid(goal_handle)) {
return false; // error message is set
}
// Check if the state machine reports a cancel event is valid
// Check if the state machine reports a cancel goal event is valid
rcl_action_goal_state_t state = rcl_action_transition_goal_state(
goal_handle->impl->state, GOAL_EVENT_CANCEL);
goal_handle->impl->state, GOAL_EVENT_CANCEL_GOAL);
return GOAL_STATE_CANCELING == state;
}

30
rcl_action/src/rcl_action/goal_state_machine.c
View file

@ -33,10 +33,10 @@ _execute_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t ev
}
rcl_action_goal_state_t
_cancel_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
_cancel_goal_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
{
if ((GOAL_STATE_ACCEPTED != state && GOAL_STATE_EXECUTING != state) ||
GOAL_EVENT_CANCEL != event)
GOAL_EVENT_CANCEL_GOAL != event)
{
return GOAL_STATE_UNKNOWN;
}
@ -44,10 +44,10 @@ _cancel_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t eve
}
rcl_action_goal_state_t
_set_succeeded_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
_succeed_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
{
if ((GOAL_STATE_EXECUTING != state && GOAL_STATE_CANCELING != state) ||
GOAL_EVENT_SET_SUCCEEDED != event)
GOAL_EVENT_SUCCEED != event)
{
return GOAL_STATE_UNKNOWN;
}
@ -55,10 +55,10 @@ _set_succeeded_event_handler(rcl_action_goal_state_t state, rcl_action_goal_even
}
rcl_action_goal_state_t
_set_aborted_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
_abort_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
{
if ((GOAL_STATE_EXECUTING != state && GOAL_STATE_CANCELING != state) ||
GOAL_EVENT_SET_ABORTED != event)
GOAL_EVENT_ABORT != event)
{
return GOAL_STATE_UNKNOWN;
}
@ -66,9 +66,9 @@ _set_aborted_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_
}
rcl_action_goal_state_t
_set_canceled_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
_canceled_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
{
if (GOAL_STATE_CANCELING != state || GOAL_EVENT_SET_CANCELED != event) {
if (GOAL_STATE_CANCELING != state || GOAL_EVENT_CANCELED != event) {
return GOAL_STATE_UNKNOWN;
}
return GOAL_STATE_CANCELED;
@ -79,17 +79,17 @@ static rcl_action_goal_event_handler
_goal_state_transition_map[GOAL_STATE_NUM_STATES][GOAL_EVENT_NUM_EVENTS] = {
[GOAL_STATE_ACCEPTED] = {
[GOAL_EVENT_EXECUTE] = _execute_event_handler,
[GOAL_EVENT_CANCEL] = _cancel_event_handler,
[GOAL_EVENT_CANCEL_GOAL] = _cancel_goal_event_handler,
},
[GOAL_STATE_EXECUTING] = {
[GOAL_EVENT_CANCEL] = _cancel_event_handler,
[GOAL_EVENT_SET_SUCCEEDED] = _set_succeeded_event_handler,
[GOAL_EVENT_SET_ABORTED] = _set_aborted_event_handler,
[GOAL_EVENT_CANCEL_GOAL] = _cancel_goal_event_handler,
[GOAL_EVENT_SUCCEED] = _succeed_event_handler,
[GOAL_EVENT_ABORT] = _abort_event_handler,
},
[GOAL_STATE_CANCELING] = {
[GOAL_EVENT_SET_SUCCEEDED] = _set_succeeded_event_handler,
[GOAL_EVENT_SET_ABORTED] = _set_aborted_event_handler,
[GOAL_EVENT_SET_CANCELED] = _set_canceled_event_handler,
[GOAL_EVENT_SUCCEED] = _succeed_event_handler,
[GOAL_EVENT_ABORT] = _abort_event_handler,
[GOAL_EVENT_CANCELED] = _canceled_event_handler,
},
};

2
rcl_action/test/rcl_action/test_action_server.cpp
View file

@ -329,7 +329,7 @@ TEST_F(TestActionServer, test_action_clear_expired_goals)
handles.push_back(*goal_handle);
// Transition executing to aborted
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_EXECUTE));
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_SET_ABORTED));
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_ABORT));
// Set time to something far in the future
ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&this->clock, RCUTILS_S_TO_NS(99999)));
// Clear with valid arguments

42
rcl_action/test/rcl_action/test_goal_handle.cpp
View file

@ -161,7 +161,7 @@ using EventStateActiveCancelableTuple =
std::tuple<rcl_action_goal_event_t, rcl_action_goal_state_t, bool, bool>;
using StateTransitionSequence = std::vector<EventStateActiveCancelableTuple>;
const std::vector<std::string> event_strs = {
"EXECUTE", "CANCEL", "SET_SUCCEEDED", "SET_ABORTED", "SET_CANCELED"};
"EXECUTE", "CANCEL_GOAL", "SUCCEED", "ABORT", "CANCELED"};
class TestGoalHandleStateTransitionSequence
: public ::testing::TestWithParam<StateTransitionSequence>
@ -242,39 +242,39 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions
const StateTransitionSequence valid_state_transition_sequences[] = {
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCELED, GOAL_STATE_CANCELED, false, false),
},
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_SUCCEEDED, false, false),
},
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_ABORTED, false, false),
},
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_SUCCEEDED, false, false),
},
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_ABORTED, false, false),
},
{
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCELED, GOAL_STATE_CANCELED, false, false),
},
{
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_ABORTED, false, false),
},
// This is an odd case, but valid nonetheless
{
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_SUCCEEDED, false, false),
},
};
@ -287,26 +287,26 @@ INSTANTIATE_TEST_CASE_P(
const StateTransitionSequence invalid_state_transition_sequences[] = {
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
},
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN, false, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_UNKNOWN, false, false),
},
{
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
},
{
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN, false, false),
std::make_tuple(GOAL_EVENT_CANCELED, GOAL_STATE_UNKNOWN, false, false),
},
{
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN, false, false),
std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_UNKNOWN, false, false),
},
{
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN, false, false),
std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_UNKNOWN, false, false),
},
};

46
rcl_action/test/rcl_action/test_goal_state_machine.cpp
View file

@ -24,27 +24,27 @@ TEST(TestGoalStateMachine, test_valid_transitions)
EXPECT_EQ(GOAL_STATE_EXECUTING, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_CANCEL);
GOAL_EVENT_CANCEL_GOAL);
EXPECT_EQ(GOAL_STATE_CANCELING, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_CANCEL);
GOAL_EVENT_CANCEL_GOAL);
EXPECT_EQ(GOAL_STATE_CANCELING, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_SET_SUCCEEDED);
GOAL_EVENT_SUCCEED);
EXPECT_EQ(GOAL_STATE_SUCCEEDED, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_SET_ABORTED);
GOAL_EVENT_ABORT);
EXPECT_EQ(GOAL_STATE_ABORTED, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_SET_CANCELED);
GOAL_EVENT_CANCELED);
EXPECT_EQ(GOAL_STATE_CANCELED, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_SET_ABORTED);
GOAL_EVENT_ABORT);
EXPECT_EQ(GOAL_STATE_ABORTED, state);
}
@ -53,15 +53,15 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
// Invalid from ACCEPTED
rcl_action_goal_state_t state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_SET_SUCCEEDED);
GOAL_EVENT_SUCCEED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_SET_ABORTED);
GOAL_EVENT_ABORT);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_SET_CANCELED);
GOAL_EVENT_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from EXECUTING
@ -71,7 +71,7 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_SET_CANCELED);
GOAL_EVENT_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from CANCELING
@ -81,7 +81,7 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_CANCEL);
GOAL_EVENT_CANCEL_GOAL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from SUCCEEDED
@ -91,19 +91,19 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_CANCEL);
GOAL_EVENT_CANCEL_GOAL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_SET_SUCCEEDED);
GOAL_EVENT_SUCCEED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_SET_ABORTED);
GOAL_EVENT_ABORT);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_SET_CANCELED);
GOAL_EVENT_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from ABORTED
@ -113,19 +113,19 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_CANCEL);
GOAL_EVENT_CANCEL_GOAL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_SET_SUCCEEDED);
GOAL_EVENT_SUCCEED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_SET_ABORTED);
GOAL_EVENT_ABORT);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_SET_CANCELED);
GOAL_EVENT_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from CANCELED
@ -135,18 +135,18 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_CANCEL);
GOAL_EVENT_CANCEL_GOAL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_SET_SUCCEEDED);
GOAL_EVENT_SUCCEED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_SET_ABORTED);
GOAL_EVENT_ABORT);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_SET_CANCELED);
GOAL_EVENT_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
}