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Refactor actions wait set functions to leverage new wait set API

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This commit is contained in:
Jacob Perron 2018-11-19 15:10:59 -08:00
parent 87d41f0808
commit d86d1c4135
2 changed files with 105 additions and 22 deletions
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34
rcl_action/include/rcl_action/wait.h
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@ -30,13 +30,17 @@ extern "C"
* This function will add the underlying service clients and subscribers to the wait set.
*
* This function behaves similar to adding subscriptions to the wait set, but will add
* five elements:
* five entities:
*
* - Three service clients
* - Two subscribers
* - Two subscriptions
*
* \see rcl_wait_set_add_subscription
*
* If this function fails for any reason, `client_index` and `subscription_index` are not set.
* It is also possible the provided wait set is left in an inconsistent state (e.g. some
* of the clients and subscriptions were added to the wait set, but not all).
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
@ -48,6 +52,12 @@ extern "C"
* \param[inout] wait_set struct where action client service client and subscription
* are to be stored
* \param[in] action_client the action client to be added to the wait set
* \param[out] client_index the starting index in the wait set's client container where
* the action clients underlying service clients were added. Optionally, set to `NULL`
* if ignored.
* \param[out] subscription_index the starting index in the wait set's subscription container
* where the action clients underlying subscriptions were added. Optionally, set to `NULL`
* if ignored.
* \return `RCL_RET_OK` if added successfully, or
* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is zero initialized, or
* \return `RCL_RET_WAIT_SET_FULL` if the subscription set is full, or
@ -59,7 +69,9 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_wait_set_add_action_client(
rcl_wait_set_t * wait_set,
const rcl_action_client_t * action_client);
const rcl_action_client_t * action_client,
size_t * client_index,
size_t * subscription_index);
/// Add a rcl_action_server_t to a wait set.
/**
@ -70,6 +82,10 @@ rcl_action_wait_set_add_action_client(
*
* \see rcl_wait_set_add_service
*
* * If this function fails for any reason, `service_index` is not set.
* It is also possible the provided wait set is left in an inconsistent state (e.g. some
* of the clients and subscribers were added to the wait set, but not all).
* <hr>
* Attribute | Adherence
* ------------------ | -------------
@ -80,6 +96,9 @@ rcl_action_wait_set_add_action_client(
*
* \param[inout] wait_set struct where action server services are to be stored
* \param[in] action_server the action server to be added to the wait set
* \param[out] service_index the starting index in the wait set's service container where
* the action servers underlying services were added. Optionally, set to `NULL`
* if ignored.
* \return `RCL_RET_OK` if added successfully, or
* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is zero initialized, or
* \return `RCL_RET_WAIT_SET_FULL` if the subscription set is full, or
@ -91,7 +110,8 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_wait_set_add_action_server(
rcl_wait_set_t * wait_set,
const rcl_action_server_t * action_server);
const rcl_action_server_t * action_server,
size_t * service_index);
/// Get the number of wait set entities associated with a rcl_action_client_t.
/**
@ -179,6 +199,7 @@ rcl_action_server_wait_set_get_num_entities(
* to call: rcl_action_take_feedback(), rcl_action_take_status(),
* rcl_action_take_goal_response(), rcl_action_take_cancel_response(), or
* rcl_action_take_result_response().
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
@ -199,8 +220,7 @@ rcl_action_server_wait_set_get_num_entities(
* \param[out] is_result_response_ready `true` if there is a result response message ready
* to take, `false` otherwise
* \return `RCL_RET_OK` if call is successful, or
* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is zero initialized or not used
* for the action client alone, or
* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is invalid, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
@ -222,6 +242,7 @@ rcl_action_client_wait_set_get_entities_ready(
* The caller can use this function to determine the relevant action server functions
* to call: rcl_action_take_goal_request(), rcl_action_take_cancel_request(), or
* rcl_action_take_result_request().
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
@ -238,6 +259,7 @@ rcl_action_client_wait_set_get_entities_ready(
* \param[out] is_result_request_ready `true` if there is a result request message ready
* to take, `false` otherwise
* \return `RCL_RET_OK` if call is successful, or
* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is invalid, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ACTION_CLIENT_INVALID` if the action server is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.