[rcl_action] Add function to check if goal can be transitioned to CANCELING (#325)
* [rcl_action] Add function for checking if goal can be transitioned to CANCELING Add unit tests for the new function rcl_action_goal_handle_is_cancelable(), as well as rcl_action_goal_handle_is_active().
This commit is contained in:
Jacob Perron
GitHub
parent
9351fd89c7
commit
8b00791a56
3 changed files with 88 additions and 45 deletions
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@ -202,15 +202,37 @@ rcl_action_goal_handle_get_status(
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct containing the goal and metadata
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* \return `true` if a goal is in one of the following states: ACCEPTED, EXECUTING, or CANCELING, or
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* \return `false` otherwise, also
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* \return `false` if the goal handle pointer is invalid
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* \return `true` if the goal is in one of the following states: ACCEPTED, EXECUTING, or CANCELING, or
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* \return `false` if the goal handle pointer is invalid, or
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* \return `false` otherwise
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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bool
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rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle);
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/// Check if a goal can be transitioned to CANCELING in its current state.
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/**
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* This is a non-blocking call.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct containing the goal and metadata
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* \return `true` if the goal can be transitioned to CANCELING from its current state, or
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* \return `false` if the goal handle pointer is invalid, or
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* \return `false` otherwise
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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bool
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rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handle);
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/// Check if a rcl_action_goal_handle_t is valid.
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/**
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* This is a non-blocking call.
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@ -229,8 +251,9 @@ rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle);
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct to evaluate as valid or not
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* \return `true` if the goal handle is valid, `false` otherwise, also
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* \return `false` if the goal handle pointer is null
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* \return `true` if the goal handle is valid, or
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* \return `false` if the goal handle pointer is null, or
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* \return `false` otherwise
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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@ -137,6 +137,18 @@ rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle)
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}
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}
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bool
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rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handle)
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{
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if (!rcl_action_goal_handle_is_valid(goal_handle)) {
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return false; // error message is set
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}
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// Check if the state machine reports a cancel event is valid
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rcl_action_goal_state_t state = rcl_action_transition_goal_state(
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goal_handle->impl->state, GOAL_EVENT_CANCEL);
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return GOAL_STATE_CANCELING == state;
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}
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bool
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rcl_action_goal_handle_is_valid(const rcl_action_goal_handle_t * goal_handle)
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{
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@ -15,7 +15,7 @@
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#include <sstream>
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#include <string>
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#include <utility>
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#include <tuple>
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#include <vector>
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#include "rcl_action/goal_handle.h"
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@ -156,8 +156,9 @@ TEST(TestGoalHandle, test_goal_handle_update_state_invalid)
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rcl_reset_error();
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}
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using EventStatePair = std::pair<rcl_action_goal_event_t, rcl_action_goal_state_t>;
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using StateTransitionSequence = std::vector<EventStatePair>;
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using EventStateActiveCancelableTuple =
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std::tuple<rcl_action_goal_event_t, rcl_action_goal_state_t, bool, bool>;
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using StateTransitionSequence = std::vector<EventStateActiveCancelableTuple>;
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const std::vector<std::string> event_strs = {
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"EXECUTE", "CANCEL", "SET_SUCCEEDED", "SET_ABORTED", "SET_CANCELED"};
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@ -169,8 +170,8 @@ public:
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const testing::TestParamInfo<StateTransitionSequence> & info)
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{
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std::stringstream result;
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for (const EventStatePair & event_state : info.param) {
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result << "_" << event_strs[event_state.first];
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for (const EventStateActiveCancelableTuple & event_state : info.param) {
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result << "_" << event_strs[std::get<0>(event_state)];
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}
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return result.str();
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}
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@ -216,15 +217,22 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions
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// Walk through state transitions
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rcl_ret_t ret;
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for (const EventStatePair & event_state : this->test_sequence) {
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ret = rcl_action_update_goal_state(&this->goal_handle, event_state.first);
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const rcl_action_goal_state_t & expected_state = event_state.second;
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if (GOAL_STATE_UNKNOWN == expected_state) {
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for (const EventStateActiveCancelableTuple & event_state : this->test_sequence) {
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rcl_action_goal_event_t goal_event;
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rcl_action_goal_state_t expected_goal_state;
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bool expected_is_active;
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bool expected_is_cancelable;
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std::tie(goal_event, expected_goal_state, expected_is_active, expected_is_cancelable) =
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event_state;
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ret = rcl_action_update_goal_state(&this->goal_handle, goal_event);
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if (GOAL_STATE_UNKNOWN == expected_goal_state) {
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EXPECT_EQ(ret, RCL_RET_ACTION_GOAL_EVENT_INVALID);
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continue;
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}
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EXPECT_EQ(ret, RCL_RET_OK);
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expect_state_eq(expected_state);
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expect_state_eq(expected_goal_state);
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EXPECT_EQ(expected_is_active, rcl_action_goal_handle_is_active(&this->goal_handle));
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EXPECT_EQ(expected_is_cancelable, rcl_action_goal_handle_is_cancelable(&this->goal_handle));
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}
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}
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@ -232,40 +240,40 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions
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// Note, each sequence starts in the ACCEPTED state
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const StateTransitionSequence valid_state_transition_sequences[] = {
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
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},
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
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},
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
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},
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
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},
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
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},
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{
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED},
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
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},
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{
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
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},
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// This is an odd case, but valid nonetheless
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{
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
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},
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};
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@ -277,27 +285,27 @@ INSTANTIATE_TEST_CASE_P(
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const StateTransitionSequence invalid_state_transition_sequences[] = {
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
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},
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
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{GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
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std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN, false, false),
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},
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{
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{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
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{GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN},
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
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std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
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},
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{
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{GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN},
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std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN, false, false),
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},
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{
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{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN},
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std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN, false, false),
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},
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{
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{GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN},
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std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN, false, false),
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},
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};
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