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[rcl_action] Store allocator used for message initialization in the message struct

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This relieves the user from providing the correct allocator when finalizing messages.
This commit is contained in:
Jacob Perron 2018-10-31 17:45:51 -07:00
parent e64fcaf5a8
commit 88eaa3a926
3 changed files with 61 additions and 68 deletions
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26
rcl_action/include/rcl_action/types.h
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@ -58,9 +58,19 @@ typedef struct rcl_action_server_t rcl_action_server_t;
// Typedef generated messages for convenience
typedef action_msgs__msg__GoalInfo rcl_action_goal_info_t;
typedef action_msgs__msg__GoalStatus rcl_action_goal_status_t;
typedef action_msgs__msg__GoalStatusArray rcl_action_goal_status_array_t;
typedef struct rcl_action_goal_status_array_t
{
action_msgs__msg__GoalStatusArray msg;
/// Allocator used to initialize this struct.
rcl_allocator_t allocator;
} rcl_action_goal_status_array_t;
typedef action_msgs__srv__CancelGoal_Request rcl_action_cancel_request_t;
typedef action_msgs__srv__CancelGoal_Response rcl_action_cancel_response_t;
typedef struct rcl_action_cancel_response_t
{
action_msgs__srv__CancelGoal_Response msg;
/// Allocator used to initialize this struct.
rcl_allocator_t allocator;
} rcl_action_cancel_response_t;
/// Goal states
// TODO(jacobperron): Let states be defined by action_msgs/msg/goal_status.h
@ -192,7 +202,6 @@ rcl_action_goal_status_array_init(
* Lock-Free | Yes
*
* \param[inout] status_array the goal status array message to be deinitialized
* \param[in] allocator handle to the allocator used to create the goal status array
* \return `RCL_RET_OK` if the goal status array was deinitialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
@ -200,9 +209,7 @@ rcl_action_goal_status_array_init(
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_goal_status_array_fini(
rcl_action_goal_status_array_t * status_array,
const rcl_allocator_t allocator);
rcl_action_goal_status_array_fini(rcl_action_goal_status_array_t * status_array);
/// Initialize a rcl_action_cancel_response_t.
/**
@ -238,7 +245,7 @@ rcl_action_goal_status_array_fini(
*
* \param[out] cancel_response a preallocated, zero-initialized, cancel response message
* to be initialized.
* \param[in] num_goals_canceling the number of goals that are canceling to add to the response.
* \param[in] num_goals_canceling the number of goals that are canceling to add to the response
* Must be greater than zero
* \param[in] allocator a valid allocator
* \return `RCL_RET_OK` if cancel response was initialized successfully, or
@ -268,7 +275,6 @@ rcl_action_cancel_response_init(
* Lock-Free | Yes
*
* \param[inout] cancel_response the cancel response message to be deinitialized
* \param[in] allocator handle to the allocator used to create the cancel response
* \return `RCL_RET_OK` if the cancel response was deinitialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
@ -276,9 +282,7 @@ rcl_action_cancel_response_init(
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_cancel_response_fini(
rcl_action_cancel_response_t * cancel_response,
const rcl_allocator_t allocator);
rcl_action_cancel_response_fini(rcl_action_cancel_response_t * cancel_response);
#ifdef __cplusplus
}