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Change UUID type in action msgs (#338)

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* Make use of unique_identifier_msgs/uuid in rcl_action

* Update to use goal_id.uuid

* Remove unnecessary find_package of unique_identifier_msgs
This commit is contained in:
Alexis Pojomovsky 2018-12-04 16:05:20 -03:00 • committed by Shane Loretz
parent c1dfda97e1
commit b1c4d95abe
6 changed files with 44 additions and 43 deletions
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8
rcl_action/src/rcl_action/action_server.c
View file

@ -734,7 +734,7 @@ rcl_action_process_cancel_request(
// Request data
const rcl_action_goal_info_t * request_goal_info = &cancel_request->goal_info;
const uint8_t * request_uuid = request_goal_info->uuid;
const uint8_t * request_uuid = request_goal_info->goal_id.uuid;
int64_t request_nanosec = _goal_info_stamp_to_nanosec(request_goal_info);
rcl_ret_t ret_final = RCL_RET_OK;
@ -751,7 +751,7 @@ rcl_action_process_cancel_request(
continue;
}
if (uuidcmp(request_uuid, goal_info.uuid)) {
if (uuidcmp(request_uuid, goal_info.goal_id.uuid)) {
if (rcl_action_goal_handle_is_cancelable(goal_handle)) {
goal_handles_to_cancel[num_goals_to_cancel++] = goal_handle;
}
@ -779,7 +779,7 @@ rcl_action_process_cancel_request(
const int64_t goal_nanosec = _goal_info_stamp_to_nanosec(&goal_info);
if (rcl_action_goal_handle_is_cancelable(goal_handle) &&
((goal_nanosec <= request_nanosec) || uuidcmp(request_uuid, goal_info.uuid)))
((goal_nanosec <= request_nanosec) || uuidcmp(request_uuid, goal_info.goal_id.uuid)))
{
goal_handles_to_cancel[num_goals_to_cancel++] = goal_handle;
}
@ -880,7 +880,7 @@ rcl_action_server_goal_exists(
return false;
}
// Compare UUIDs
if (uuidcmp(gh_goal_info.uuid, goal_info->uuid)) {
if (uuidcmp(gh_goal_info.goal_id.uuid, goal_info->goal_id.uuid)) {
return true;
}
}

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

@ -23,7 +23,7 @@ extern "C"
rcl_action_goal_info_t
rcl_action_get_zero_initialized_goal_info(void)
{
static rcl_action_goal_info_t goal_info = {{0}, {0, 0}};
static rcl_action_goal_info_t goal_info = {{{0}}, {0, 0}};
return goal_info;
}
@ -37,7 +37,7 @@ rcl_action_get_zero_initialized_goal_status_array(void)
rcl_action_cancel_request_t
rcl_action_get_zero_initialized_cancel_request(void)
{
static rcl_action_cancel_request_t request = {{{0}, {0, 0}}};
static rcl_action_cancel_request_t request = {{{{0}}, {0, 0}}};
return request;
}