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rcl_action - user friendly error messages for invalid transitions (#448)

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* user friendly error messages for invalid transitions

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>
This commit is contained in:
Siddharth Kucheria 2019-05-21 15:17:37 -07:00 • committed by GitHub
parent 0736f93cc0
commit 9566f39d60
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 15 additions and 3 deletions
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5
rcl_action/include/rcl_action/types.h
View file

@ -93,6 +93,11 @@ typedef int8_t rcl_action_goal_state_t;
#define GOAL_STATE_ABORTED action_msgs__msg__GoalStatus__STATUS_ABORTED #define GOAL_STATE_ABORTED action_msgs__msg__GoalStatus__STATUS_ABORTED
#define GOAL_STATE_NUM_STATES 7 #define GOAL_STATE_NUM_STATES 7
/// User friendly error messages for invalid trasntions
// Description variables in types.c should be changed if enum values change
extern const char * goal_state_descriptions[];
extern const char * goal_event_descriptions[];
/// Goal state transition events /// Goal state transition events
typedef enum rcl_action_goal_event_t typedef enum rcl_action_goal_event_t
{ {

6
rcl_action/src/rcl_action/goal_handle.c
View file

@ -89,9 +89,9 @@ rcl_action_update_goal_state(
goal_handle->impl->state, goal_event); goal_handle->impl->state, goal_event);
if (GOAL_STATE_UNKNOWN == new_state) { if (GOAL_STATE_UNKNOWN == new_state) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING( RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"goal_handle attempted invalid transition from state %d with event %d", "goal_handle attempted invalid transition from state %s with event %s",
goal_handle->impl->state, goal_state_descriptions[goal_handle->impl->state],
goal_event); goal_event_descriptions[goal_event]);
return RCL_RET_ACTION_GOAL_EVENT_INVALID; return RCL_RET_ACTION_GOAL_EVENT_INVALID;
} }
goal_handle->impl->state = new_state; goal_handle->impl->state = new_state;

7
rcl_action/src/rcl_action/types.c
View file

@ -132,6 +132,13 @@ rcl_action_cancel_response_fini(rcl_action_cancel_response_t * cancel_response)
return RCL_RET_OK; return RCL_RET_OK;
} }
/// Values should be changed if enum values change
const char * goal_state_descriptions[] =
{"UNKNOWN", "ACCEPTED", "EXECUTING", "CANCELING", "SUCCEEDED", "CANCELED", "ABORTED"};
const char * goal_event_descriptions[] =
{"EXECUTE", "CANCEL_GOAL", "SUCCEED", "ABORT", "CANCELED", "NUM_EVENTS"};
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif