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add rcl_action_server_is_valid_except_context (#348)

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Shane Loretz 2018-12-01 08:55:07 -08:00 • committed by GitHub
parent dcaef179b1
commit c1dfda97e1
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 56 additions and 3 deletions
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24
rcl_action/include/rcl_action/action_server.h
View file

@ -905,6 +905,30 @@ RCL_WARN_UNUSED
bool
rcl_action_server_is_valid(const rcl_action_server_t * action_server);
/// Check if an action server is valid without erroring if the library is shutting down.
/**
* In the case where `false` is returned (ie. the action server is invalid),
* an error message is set.
*
* This function cannot fail.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] action_server handle to the action server
* \return `true` if `action_server` is valid, or
* \return `false` otherwise.
*/
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_server_is_valid_except_context(const rcl_action_server_t * action_server);
#ifdef __cplusplus
}
#endif

35
rcl_action/src/rcl_action/action_server.c
View file

@ -921,6 +921,35 @@ rcl_action_server_is_valid(const rcl_action_server_t * action_server)
return true;
}
bool
rcl_action_server_is_valid_except_context(const rcl_action_server_t * action_server)
{
RCL_CHECK_FOR_NULL_WITH_MSG(action_server, "action server pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
action_server->impl, "action server implementation is invalid", return false);
if (!rcl_service_is_valid(&action_server->impl->goal_service)) {
RCL_SET_ERROR_MSG("goal service is invalid");
return false;
}
if (!rcl_service_is_valid(&action_server->impl->cancel_service)) {
RCL_SET_ERROR_MSG("cancel service is invalid");
return false;
}
if (!rcl_service_is_valid(&action_server->impl->result_service)) {
RCL_SET_ERROR_MSG("result service is invalid");
return false;
}
if (!rcl_publisher_is_valid_except_context(&action_server->impl->feedback_publisher)) {
RCL_SET_ERROR_MSG("feedback publisher is invalid");
return false;
}
if (!rcl_publisher_is_valid_except_context(&action_server->impl->status_publisher)) {
RCL_SET_ERROR_MSG("status publisher is invalid");
return false;
}
return true;
}
rcl_ret_t
rcl_action_wait_set_add_action_server(
rcl_wait_set_t * wait_set,
@ -928,7 +957,7 @@ rcl_action_wait_set_add_action_server(
size_t * service_index)
{
RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_WAIT_SET_INVALID);
if (!rcl_action_server_is_valid(action_server)) {
if (!rcl_action_server_is_valid_except_context(action_server)) {
return RCL_RET_ACTION_SERVER_INVALID; // error already set
}
@ -977,7 +1006,7 @@ rcl_action_server_wait_set_get_num_entities(
size_t * num_clients,
size_t * num_services)
{
if (!rcl_action_server_is_valid(action_server)) {
if (!rcl_action_server_is_valid_except_context(action_server)) {
return RCL_RET_ACTION_SERVER_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(num_subscriptions, RCL_RET_INVALID_ARGUMENT);
@ -1003,7 +1032,7 @@ rcl_action_server_wait_set_get_entities_ready(
bool * is_goal_expired)
{
RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_WAIT_SET_INVALID);
if (!rcl_action_server_is_valid(action_server)) {
if (!rcl_action_server_is_valid_except_context(action_server)) {
return RCL_RET_ACTION_SERVER_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(is_goal_request_ready, RCL_RET_INVALID_ARGUMENT);