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Add action server implementation (#323)

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* Implement action server init, fini, and is_valid functions

* Add macros for initializing services and publishers

* Implement rcl_action_server_get_default_options()

* Implement rcl_action_accept_new_goal()

* Add function, rcl_action_server_goal_exists(), for checking if goal is already being tracked by an action server

* Add unit tests

* Implement rcl_action_server_get_goal_handles()

* Implement rcl_action_server_get_options()

* Implement rcl_action_server_get_action_name()

* Implement rcl_action_get_goal_status_array()

* Bugfix: reset pointers and size in type finalize functions
Also let finalize functions be called on already finalized objects

* Implement send/take functions for action server services

* Implement action server publishers for feedback and status

* Implement rcl_action_process_cancel_request()

* Add partial communication tests

* Define UUID_SIZE

* Use type-erased pointer for rcl_action_publish_status()

* Implement rcl_action_clear_expired_goals()
Introduce rcl_clock_t to action server implementation.

* Change internal goal handle array to be an array of pointers.

* Add check for invalid action names

* Do heap allocation of temporary array to satisfy MSVC compiler

* Bugfix: finalize node in test tear downs and reset expected errors

* Update documentation

* Update package.xml

* Pass in rcl_clock_t to action server
Rather than initializing internally.

* Do not finalize goal handles in expire function
Instead, leave it up to the caller to finalize goal handles.
Renamed the function to rcl_action_expire_goals.
This commit is contained in:
Jacob Perron 2018-11-20 12:04:13 -08:00 • committed by GitHub
parent d86d1c4135
commit acc974e43b
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11 changed files with 1879 additions and 94 deletions
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10
rcl_action/package.xml
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@ -11,9 +11,15 @@
<build_depend>action_msgs</build_depend>
<build_depend>rcl</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>rosidl_generator_c</build_depend>
<exec_depend>action_msgs</exec_depend>
<exec_depend>rcl</exec_depend>
<build_export_depend>action_msgs</build_export_depend>
<build_export_depend>rcl</build_export_depend>
<build_export_depend>rcutils</build_export_depend>
<build_export_depend>rmw</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_common</test_depend>