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Addresses peer review comments (#319)

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This commit is contained in:
Michel Hidalgo 2018-11-05 10:50:15 -03:00
parent 16205873ea
commit d1c3990f5d
1 changed files with 153 additions and 170 deletions
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215
rcl_action/src/rcl_action/action_client.c
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@ -52,6 +52,7 @@ rcl_action_get_zero_initialized_client(void)
return null_action_client;
}
// \internal Initialize client for the given action's goal service.
static rcl_ret_t rcl_action_goal_service_client_init(
rcl_client_t * goal_client,
const rcl_node_t * node,
@ -69,8 +70,7 @@ static rcl_ret_t rcl_action_goal_service_client_init(
rcl_allocator_t allocator = goal_client_options->allocator;
char * goal_service_name = NULL;
ret = rcl_action_get_goal_service_name(
action_name, allocator, &goal_service_name);
ret = rcl_action_get_goal_service_name(action_name, allocator, &goal_service_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -98,6 +98,7 @@ static rcl_ret_t rcl_action_goal_service_client_init(
return ret;
}
// \internal Initialize client for the given action's goal cancel service.
static rcl_ret_t rcl_action_cancel_service_client_init(
rcl_client_t * cancel_client,
const rcl_node_t * node,
@ -115,8 +116,7 @@ static rcl_ret_t rcl_action_cancel_service_client_init(
rcl_allocator_t allocator = cancel_client_options->allocator;
char * cancel_service_name = NULL;
ret = rcl_action_get_cancel_service_name(
action_name, allocator, &cancel_service_name);
ret = rcl_action_get_cancel_service_name(action_name, allocator, &cancel_service_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -144,6 +144,7 @@ static rcl_ret_t rcl_action_cancel_service_client_init(
return ret;
}
// \internal Initialize client for the given action's goal result service.
static rcl_ret_t rcl_action_result_client_init(
rcl_client_t * result_client,
const rcl_node_t * node,
@ -161,8 +162,7 @@ static rcl_ret_t rcl_action_result_client_init(
rcl_allocator_t allocator = result_client_options->allocator;
char * result_service_name = NULL;
ret = rcl_action_get_result_service_name(
action_name, allocator, &result_service_name);
ret = rcl_action_get_result_service_name(action_name, allocator, &result_service_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -190,6 +190,7 @@ static rcl_ret_t rcl_action_result_client_init(
return ret;
}
// \internal Initialize subscription to the given action's feedback topic.
static rcl_ret_t rcl_action_feedback_subscription_init(
rcl_subscription_t * feedback_subscription,
const rcl_node_t * node,
@ -207,9 +208,7 @@ static rcl_ret_t rcl_action_feedback_subscription_init(
rcl_allocator_t allocator = feedback_subscription_options->allocator;
char * feedback_topic_name = NULL;
ret = rcl_action_get_feedback_topic_name(
action_name, allocator,
&feedback_topic_name);
ret = rcl_action_get_feedback_topic_name(action_name, allocator, &feedback_topic_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -228,7 +227,7 @@ static rcl_ret_t rcl_action_feedback_subscription_init(
allocator.deallocate(feedback_topic_name, allocator.state);
if (RCL_RET_OK != ret) {
if (RCL_RET_SERVICE_NAME_INVALID == ret) {
if (RCL_RET_TOPIC_NAME_INVALID == ret) {
ret = RCL_RET_ACTION_NAME_INVALID;
} else if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -237,6 +236,7 @@ static rcl_ret_t rcl_action_feedback_subscription_init(
return ret;
}
// \internal Initialize subscription to the given action's status topic.
static rcl_ret_t rcl_action_status_subscription_init(
rcl_subscription_t * status_subscription, const rcl_node_t * node,
const rosidl_message_type_support_t * status_message_type_support,
@ -253,8 +253,7 @@ static rcl_ret_t rcl_action_status_subscription_init(
rcl_allocator_t allocator = status_subscription_options->allocator;
char * status_topic_name = NULL;
ret = rcl_action_get_status_topic_name(
action_name, allocator, &status_topic_name);
ret = rcl_action_get_status_topic_name(action_name, allocator, &status_topic_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -273,7 +272,7 @@ static rcl_ret_t rcl_action_status_subscription_init(
allocator.deallocate(status_topic_name, allocator.state);
if (RCL_RET_OK != ret) {
if (RCL_RET_SERVICE_NAME_INVALID == ret) {
if (RCL_RET_TOPIC_NAME_INVALID == ret) {
ret = RCL_RET_ACTION_NAME_INVALID;
} else if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
@ -290,11 +289,6 @@ rcl_action_client_init(
const char * action_name,
const rcl_action_client_options_t * options)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Initializing action client");
RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
rcl_allocator_t * allocator = (rcl_allocator_t *)&options->allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(
allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_node_is_valid(node)) {
@ -302,31 +296,44 @@ rcl_action_client_init(
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
rcl_allocator_t * allocator = (rcl_allocator_t *)&options->allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(
allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
rcl_ret_t ret = RCL_RET_OK;
rcl_ret_t fini_ret = RCL_RET_OK;
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing client for action name '%s'", action_name);
if (NULL != action_client->impl) {
RCL_SET_ERROR_MSG("action client already initialized, or memory was uninitialized");
return RCL_RET_INVALID_ARGUMENT;
}
// Allocate space for the implementation struct.
rcl_action_client_impl_t *impl = allocator->allocate(
rcl_action_client_impl_t *impl = action_client->impl = allocator->allocate(
sizeof(rcl_action_client_impl_t), allocator->state);
RCL_CHECK_FOR_NULL_WITH_MSG(impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
// Copy action client name and options.
impl->options = *options;
impl->action_name = rcutils_strdup(action_name, *((rcutils_allocator_t *)allocator));
if (NULL == impl->action_name) {
allocator->deallocate(impl, allocator->state);
return RCL_RET_BAD_ALLOC;
ret = RCL_RET_BAD_ALLOC;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing action goal client");
// Initialize action goal service client.
rcl_client_options_t goal_client_options = {
.qos = options->goal_service_qos, .allocator = *allocator
};
rcl_ret_t ret, critical_ret;
ret = rcl_action_goal_service_client_init(
&impl->goal_client, node,
&type_support->goal_service_type_support,
impl->action_name, &goal_client_options);
if (RCL_RET_OK == ret) {
if (RCL_RET_OK != ret) {
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing action cancel client");
ROS_PACKAGE_NAME, "Failed to initialize action goal client");
goto fail;
}
// Initialize action cancel service client.
rcl_client_options_t cancel_client_options = {
.qos = options->cancel_service_qos, .allocator = *allocator
};
@ -334,99 +341,62 @@ rcl_action_client_init(
&impl->cancel_client, node,
&type_support->cancel_service_type_support,
impl->action_name, &cancel_client_options);
if (RCL_RET_OK == ret) {
if (RCL_RET_OK != ret) {
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action cancel client initialized");
ROS_PACKAGE_NAME, "Failed to initialize action cancel client");
goto fail;
}
// Initialize action result service client.
rcl_client_options_t result_client_options = {
.qos = options->result_service_qos, .allocator = *allocator
};
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing action result client");
ret = rcl_action_result_client_init(
&impl->result_client, node,
&type_support->result_service_type_support,
impl->action_name, &result_client_options);
if (RCL_RET_OK == ret) {
if (RCL_RET_OK != ret) {
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action cancel result initialized");
ROS_PACKAGE_NAME, "Failed to initialize action result client");
goto fail;
}
// Initialize action feedback subscription client.
rcl_subscription_options_t feedback_subscription_options = {
.qos = options->feedback_topic_qos,
.ignore_local_publications = false,
.allocator = *allocator
};
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing action feedback subscription");
ret = rcl_action_feedback_subscription_init(
&impl->feedback_subscription, node,
&type_support->feedback_topic_type_support,
impl->action_name, &feedback_subscription_options);
if (RCL_RET_OK == ret) {
if (RCL_RET_OK != ret) {
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action feedback subscription initialized");
ROS_PACKAGE_NAME, "Failed to initialize feedback subscription");
goto fail;
}
// Initialize action status subscription client.
rcl_subscription_options_t status_subscription_options = {
.qos = options->status_topic_qos,
.ignore_local_publications = false,
.allocator = *allocator
};
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Initializing action status subscription");
ret = rcl_action_status_subscription_init(
&impl->status_subscription, node,
&type_support->status_topic_type_support,
impl->action_name, &status_subscription_options);
if (RCL_RET_OK == ret) {
if (RCL_RET_OK != ret) {
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action status subscription initialized");
action_client->impl->options = *options;
action_client->impl = impl;
ROS_PACKAGE_NAME, "Failed to initialize status subscription");
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
return RCL_RET_OK;
return ret;
fail:
fini_ret = rcl_action_client_fini(action_client, node);
if (RCL_RET_OK != fini_ret) {
RCL_SET_ERROR_MSG("failed to cleanup action client");
ret = RCL_RET_ERROR;
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Finalizing action feedback subscription");
critical_ret = rcl_subscription_fini(&impl->feedback_subscription, node);
if (RCL_RET_OK != critical_ret) {
RCL_SET_ERROR_MSG("cleanup after error failed, "
"system left inconsistent\n");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action feedback subscription finalized");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Finalizing action result client");
critical_ret = rcl_client_fini(&impl->result_client, node);
if (RCL_RET_OK != critical_ret) {
RCL_SET_ERROR_MSG("cleanup after error failed, "
"system left inconsistent\n");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action result client finalized");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Finalizing action cancel client");
critical_ret = rcl_client_fini(&impl->cancel_client, node);
if (RCL_RET_OK != critical_ret) {
RCL_SET_ERROR_MSG("cleanup after error failed, "
"system left inconsistent\n");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action cancel client finalized");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Finalizing action goal client");
critical_ret = rcl_client_fini(&impl->goal_client, node);
if (RCL_RET_OK != critical_ret) {
RCL_SET_ERROR_MSG("cleanup after error failed, "
"system left inconsistent\n");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Action goal client finalized");
}
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Failed to initialize action client");
allocator->deallocate(impl->action_name, allocator->state);
allocator->deallocate(impl, allocator->state);
return ret;
}
@ -434,54 +404,58 @@ rcl_ret_t
rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing action client");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
rcl_ret_t ret = RCL_RET_OK;
if (action_client->impl) {
// TODO(hidmic): ideally we should rollback to a valid state if any
// finalization failed, but it seems that's currently
// not possible.
rcl_ret_t ret = RCL_RET_OK;
rcl_ret_t fini_ret = RCL_RET_OK;
rcl_action_client_impl_t * impl = action_client->impl;
if (rcl_client_is_valid(&impl->goal_client)) {
ret = rcl_client_fini(&impl->goal_client, node);
if (RCL_RET_OK != ret) {
return RCL_RET_ERROR;
fini_ret = rcl_client_fini(&impl->goal_client, node);
if (RCL_RET_OK != fini_ret) {
ret = RCL_RET_ERROR;
}
}
if (rcl_client_is_valid(&impl->cancel_client)) {
ret = rcl_client_fini(&impl->cancel_client, node);
if (RCL_RET_OK != ret) {
return RCL_RET_ERROR;
fini_ret = rcl_client_fini(&impl->cancel_client, node);
if (RCL_RET_OK != fini_ret) {
ret = RCL_RET_ERROR;
}
}
if (rcl_client_is_valid(&impl->result_client)) {
ret = rcl_client_fini(&impl->result_client, node);
if (ret != RCL_RET_OK) {
return RCL_RET_ERROR;
fini_ret = rcl_client_fini(&impl->result_client, node);
if (RCL_RET_OK != fini_ret) {
ret = RCL_RET_ERROR;
}
}
if (rcl_subscription_is_valid(&impl->feedback_subscription)) {
ret = rcl_subscription_fini(&impl->feedback_subscription, node);
if (ret != RCL_RET_OK) {
return RCL_RET_ERROR;
fini_ret = rcl_subscription_fini(&impl->feedback_subscription, node);
if (RCL_RET_OK != fini_ret) {
ret = RCL_RET_ERROR;
}
}
if (rcl_subscription_is_valid(&impl->status_subscription)) {
ret = rcl_subscription_fini(&impl->status_subscription, node);
if (ret != RCL_RET_OK) {
return RCL_RET_ERROR;
fini_ret = rcl_subscription_fini(&impl->status_subscription, node);
if (RCL_RET_OK != fini_ret) {
ret = RCL_RET_ERROR;
}
}
if (RCL_RET_OK != ret) {
rcl_allocator_t * allocator = &impl->options.allocator;
allocator->deallocate(impl->action_name, allocator->state);
allocator->deallocate(action_client->impl, allocator->state);
action_client->impl = NULL;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client finalized");
return RCL_RET_OK;
}
return ret;
}
rcl_action_client_options_t
@ -503,10 +477,11 @@ rcl_action_send_goal_request(
const void * ros_goal_request)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action goal request");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_goal_request, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_goal_request, RCL_RET_INVALID_ARGUMENT);
int64_t ignored_sequence_number;
rcl_ret_t ret = rcl_send_request(
&action_client->impl->goal_client,
@ -524,10 +499,11 @@ rcl_action_take_goal_response(
void * ros_goal_response)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action goal response");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_goal_response, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_goal_response, RCL_RET_INVALID_ARGUMENT);
rmw_request_id_t ignored_request_header;
rcl_ret_t ret = rcl_take_response(
&action_client->impl->goal_client,
@ -550,10 +526,11 @@ rcl_action_take_feedback(
void * ros_feedback)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action feedback");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_feedback, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_feedback, RCL_RET_INVALID_ARGUMENT);
rmw_message_info_t ignored_message_info;
rcl_ret_t ret = rcl_take(
&action_client->impl->feedback_subscription,
@ -576,10 +553,11 @@ rcl_action_take_status(
void * ros_status_array)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action status");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_status_array, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_status_array, RCL_RET_INVALID_ARGUMENT);
rmw_message_info_t ignored_message_info;
rcl_ret_t ret = rcl_take(
&action_client->impl->status_subscription,
@ -602,10 +580,12 @@ rcl_action_send_result_request(
const void * ros_result_request)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action result request");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_result_request, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_result_request, RCL_RET_INVALID_ARGUMENT);
int64_t ignored_sequence_number;
rcl_ret_t ret = rcl_send_request(
&action_client->impl->result_client,
@ -623,10 +603,11 @@ rcl_action_take_result_response(
void * ros_result)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action result response");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_result, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_result, RCL_RET_INVALID_ARGUMENT);
rmw_request_id_t ignored_response_header;
rcl_ret_t ret = rcl_take_response(
&action_client->impl->result_client,
@ -649,10 +630,11 @@ rcl_action_send_cancel_request(
const void * ros_cancel_request)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action cancel request");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_cancel_request, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_cancel_request, RCL_RET_INVALID_ARGUMENT);
int64_t ignored_sequence_number;
rcl_ret_t ret = rcl_send_request(
&action_client->impl->cancel_client,
@ -670,10 +652,11 @@ rcl_action_take_cancel_response(
void * ros_cancel_response)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action cancel response");
RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_cancel_response, RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_client_is_valid(action_client)) {
return RCL_RET_ACTION_CLIENT_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(ros_cancel_response, RCL_RET_INVALID_ARGUMENT);
rmw_request_id_t ignored_response_header;
rcl_ret_t ret = rcl_take_response(
&action_client->impl->cancel_client,