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Add Action graph API (#411)

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* Add action graph API

Builds on top of the rcl graph API.
A list of action names associated with action clients can be constructed by
looking for subscriber topic names that have the suffix "/_action/feedback".
Likewise, action servers are associated with publisher topic names with the same suffix.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Enable multiple rmw action graph API tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use ament_target_dependencies for osrf_testing_tools_cpp

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix lint errors

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Refactor

* Move graph API common implementation to local function
* Refactor tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Disable graph tests with OpenSplice

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Include graph.h in rcl_action.h

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Remove duplicate test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Prefix increment operators

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Rename 'suffix' -> 'identifier'

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add missing finalize calls and remove redundant branch

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Finalize names and types struct on error

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix bugs in tests

Pass valid names and types struct and update expected error code.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add zero allocator tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix indentation

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Check if action identifiers are the suffix

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-04-14 07:30:51 -07:00 • committed by GitHub
parent 11b5eb865b
commit b5039d20d7
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5 changed files with 961 additions and 1 deletions
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15
rcl_action/CMakeLists.txt
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@ -36,6 +36,7 @@ set(rcl_action_sources
src/${PROJECT_NAME}/action_server.c
src/${PROJECT_NAME}/goal_handle.c
src/${PROJECT_NAME}/goal_state_machine.c
src/${PROJECT_NAME}/graph.c
src/${PROJECT_NAME}/names.c
src/${PROJECT_NAME}/types.c
)
@ -91,7 +92,11 @@ if(BUILD_TESTING)
target_link_libraries(test_action_client
${PROJECT_NAME}
)
ament_target_dependencies(test_action_client "osrf_testing_tools_cpp" "rcl" "test_msgs")
ament_target_dependencies(test_action_client
"osrf_testing_tools_cpp"
"rcl"
"test_msgs"
)
endif()
# get the rmw implementations ahead of time
@ -122,6 +127,7 @@ if(BUILD_TESTING)
${PROJECT_NAME}
)
ament_target_dependencies(${target}${target_suffix}
"osrf_testing_tools_cpp"
"rcl"
"test_msgs"
)
@ -146,6 +152,13 @@ if(BUILD_TESTING)
"test/rcl_action/test_action_communication.cpp")
custom_test_c(test_action_interaction
"test/rcl_action/test_action_interaction.cpp")
# TODO(jacobperron): Graph tests fail with opensplice. Re-enable after resolving
# https://github.com/ros2/ros2/issues/677
if(NOT rmw_implementation STREQUAL "rmw_opensplice_cpp")
custom_test_c(test_graph
"test/rcl_action/test_graph.cpp")
endif()
endmacro()
call_for_each_rmw_implementation(targets)