Merge pull request #319 from ros2/hidmic/action-client-implementation
Action client implementation
This commit is contained in:
Michel Hidalgo
GitHub
commit
f256da0a86
8 changed files with 745 additions and 19 deletions
506
rcl_action/src/rcl_action/action_client.c
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506
rcl_action/src/rcl_action/action_client.c
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@ -0,0 +1,506 @@
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// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "rcl_action/action_client.h"
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#include "rcl_action/default_qos.h"
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#include "rcl_action/names.h"
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#include "rcl_action/types.h"
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#include "rcl_action/wait.h"
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#include "rcl/client.h"
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#include "rcl/error_handling.h"
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#include "rcl/subscription.h"
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#include "rcl/types.h"
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#include "rcl/wait.h"
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#include "rcutils/logging_macros.h"
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#include "rcutils/strdup.h"
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#include "rmw/qos_profiles.h"
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#include "rmw/types.h"
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typedef struct rcl_action_client_impl_t
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{
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rcl_client_t goal_client;
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rcl_client_t cancel_client;
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rcl_client_t result_client;
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rcl_subscription_t feedback_subscription;
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rcl_subscription_t status_subscription;
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rcl_action_client_options_t options;
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char * action_name;
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} rcl_action_client_impl_t;
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rcl_action_client_t
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rcl_action_get_zero_initialized_client(void)
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{
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static rcl_action_client_t null_action_client = {0};
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return null_action_client;
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}
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// \internal Initializes an action client specific service client.
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#define CLIENT_INIT(Type) \
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char * Type ## _service_name = NULL; \
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ret = rcl_action_get_ ## Type ## _service_name(action_name, allocator, &Type ## _service_name); \
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if (RCL_RET_OK != ret) { \
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RCL_SET_ERROR_MSG("failed to get " #Type " service name"); \
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if (RCL_RET_BAD_ALLOC == ret) { \
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ret = RCL_RET_BAD_ALLOC; \
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} else { \
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ret = RCL_RET_ERROR; \
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} \
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goto fail; \
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} \
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rcl_client_options_t Type ## _service_client_options = { \
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.qos = options->Type ## _service_qos, .allocator = allocator \
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}; \
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action_client->impl->Type ## _client = rcl_get_zero_initialized_client(); \
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ret = rcl_client_init( \
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&action_client->impl->Type ## _client, \
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node, \
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type_support->Type ## _service_type_support, \
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Type ## _service_name, \
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&Type ## _service_client_options); \
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allocator.deallocate(Type ## _service_name, allocator.state); \
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if (RCL_RET_OK != ret) { \
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if (RCL_RET_BAD_ALLOC == ret) { \
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ret = RCL_RET_BAD_ALLOC; \
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} else if (RCL_RET_SERVICE_NAME_INVALID == ret) { \
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ret = RCL_RET_ACTION_NAME_INVALID; \
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} else { \
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ret = RCL_RET_ERROR; \
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} \
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goto fail; \
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}
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// \internal Initializes an action client specific topic subscription.
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#define SUBSCRIPTION_INIT(Type) \
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char * Type ## _topic_name = NULL; \
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ret = rcl_action_get_ ## Type ## _topic_name(action_name, allocator, &Type ## _topic_name); \
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if (RCL_RET_OK != ret) { \
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RCL_SET_ERROR_MSG("failed to get " #Type " topic name"); \
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if (RCL_RET_BAD_ALLOC == ret) { \
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ret = RCL_RET_BAD_ALLOC; \
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} else { \
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ret = RCL_RET_ERROR; \
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} \
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goto fail; \
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} \
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rcl_subscription_options_t Type ## _topic_subscription_options = { \
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.qos = options->Type ## _topic_qos, \
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.ignore_local_publications = false, \
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.allocator = allocator \
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}; \
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action_client->impl->Type ## _subscription = rcl_get_zero_initialized_subscription(); \
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ret = rcl_subscription_init( \
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&action_client->impl->Type ## _subscription, \
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node, \
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type_support->Type ## _message_type_support, \
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Type ## _topic_name, \
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&Type ## _topic_subscription_options); \
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allocator.deallocate(Type ## _topic_name, allocator.state); \
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if (RCL_RET_OK != ret) { \
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if (RCL_RET_BAD_ALLOC == ret) { \
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ret = RCL_RET_BAD_ALLOC; \
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} else if (RCL_RET_TOPIC_NAME_INVALID == ret) { \
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ret = RCL_RET_ACTION_NAME_INVALID; \
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} else { \
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ret = RCL_RET_ERROR; \
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} \
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goto fail; \
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}
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rcl_ret_t
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rcl_action_client_init(
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rcl_action_client_t * action_client,
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rcl_node_t * node,
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const rosidl_action_type_support_t * type_support,
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const char * action_name,
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const rcl_action_client_options_t * options)
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{
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RCL_CHECK_ARGUMENT_FOR_NULL(action_client, RCL_RET_INVALID_ARGUMENT);
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if (!rcl_node_is_valid(node)) {
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return RCL_RET_NODE_INVALID;
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}
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RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
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RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT);
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RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
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rcl_allocator_t allocator = options->allocator;
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RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
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rcl_ret_t ret = RCL_RET_OK;
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rcl_ret_t fini_ret = RCL_RET_OK;
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RCUTILS_LOG_DEBUG_NAMED(
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ROS_PACKAGE_NAME, "Initializing client for action name '%s'", action_name);
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if (NULL != action_client->impl) {
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RCL_SET_ERROR_MSG("action client already initialized, or memory was uninitialized");
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return RCL_RET_ALREADY_INIT;
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}
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// Allocate space for the implementation struct.
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action_client->impl = allocator.allocate(sizeof(rcl_action_client_impl_t), allocator.state);
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RCL_CHECK_FOR_NULL_WITH_MSG(
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action_client->impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
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// Copy action client name and options.
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action_client->impl->action_name = rcutils_strdup(action_name, allocator);
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if (NULL == action_client->impl->action_name) {
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ret = RCL_RET_BAD_ALLOC;
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goto fail;
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}
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action_client->impl->options = *options;
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// Initialize action service clients.
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CLIENT_INIT(goal);
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CLIENT_INIT(cancel);
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CLIENT_INIT(result);
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// Initialize action topic subscriptions.
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SUBSCRIPTION_INIT(feedback);
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SUBSCRIPTION_INIT(status);
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
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return ret;
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fail:
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fini_ret = rcl_action_client_fini(action_client, node);
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if (RCL_RET_OK != fini_ret) {
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RCL_SET_ERROR_MSG("failed to cleanup action client");
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ret = RCL_RET_ERROR;
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}
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return ret;
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}
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rcl_ret_t
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rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node)
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{
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing action client");
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if (!rcl_action_client_is_valid(action_client)) {
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return RCL_RET_ACTION_CLIENT_INVALID; // error already set
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}
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if (!rcl_node_is_valid(node)) {
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return RCL_RET_NODE_INVALID; // error already set
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}
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rcl_ret_t ret = RCL_RET_OK;
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if (RCL_RET_OK != rcl_client_fini(&action_client->impl->goal_client, node)) {
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ret = RCL_RET_ERROR;
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}
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if (RCL_RET_OK != rcl_client_fini(&action_client->impl->cancel_client, node)) {
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ret = RCL_RET_ERROR;
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}
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if (RCL_RET_OK != rcl_client_fini(&action_client->impl->result_client, node)) {
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ret = RCL_RET_ERROR;
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}
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if (RCL_RET_OK != rcl_subscription_fini(&action_client->impl->feedback_subscription, node)) {
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ret = RCL_RET_ERROR;
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}
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if (RCL_RET_OK != rcl_subscription_fini(&action_client->impl->status_subscription, node)) {
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ret = RCL_RET_ERROR;
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}
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rcl_allocator_t * allocator = &action_client->impl->options.allocator;
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allocator->deallocate(action_client->impl->action_name, allocator->state);
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allocator->deallocate(action_client->impl, allocator->state);
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action_client->impl = NULL;
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client finalized");
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return ret;
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}
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rcl_action_client_options_t
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rcl_action_client_get_default_options(void)
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{
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static rcl_action_client_options_t default_options;
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default_options.goal_service_qos = rmw_qos_profile_services_default;
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default_options.cancel_service_qos = rmw_qos_profile_services_default;
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default_options.result_service_qos = rmw_qos_profile_services_default;
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default_options.feedback_topic_qos = rmw_qos_profile_default;
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default_options.status_topic_qos = rcl_action_qos_profile_status_default;
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default_options.allocator = rcl_get_default_allocator();
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return default_options;
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}
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// \internal Sends an action client specific service request.
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#define SEND_SERVICE_REQUEST(Type) \
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action " #Type " request"); \
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if (!rcl_action_client_is_valid(action_client)) { \
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return RCL_RET_ACTION_SERVER_INVALID; /* error already set */ \
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} \
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RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type ## _request, RCL_RET_INVALID_ARGUMENT); \
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int64_t sequence_number; /* ignored */ \
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rcl_ret_t ret = rcl_send_request( \
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&action_client->impl->Type ## _client, ros_ ## Type ## _request, &sequence_number); \
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if (RCL_RET_OK != ret) { \
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return RCL_RET_ERROR; /* error already set */ \
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} \
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action " #Type " request sent"); \
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return RCL_RET_OK;
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// \internal Takes an action client specific service response.
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#define TAKE_SERVICE_RESPONSE(Type) \
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type " response"); \
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if (!rcl_action_client_is_valid(action_client)) { \
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return RCL_RET_ACTION_SERVER_INVALID; /* error already set */ \
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} \
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RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type ## _response, RCL_RET_INVALID_ARGUMENT); \
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rmw_request_id_t request_header; /* ignored */ \
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rcl_ret_t ret = rcl_take_response( \
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&action_client->impl->Type ## _client, &request_header, ros_ ## Type ## _response); \
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if (RCL_RET_OK != ret) { \
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if (RCL_RET_BAD_ALLOC == ret) { \
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return RCL_RET_BAD_ALLOC; /* error already set */ \
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} \
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if (RCL_RET_CLIENT_TAKE_FAILED == ret) { \
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return RCL_RET_ACTION_CLIENT_TAKE_FAILED; \
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} \
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return RCL_RET_ERROR; /* error already set */ \
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} \
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action " #Type " response taken"); \
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return RCL_RET_OK;
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rcl_ret_t
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rcl_action_send_goal_request(
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const rcl_action_client_t * action_client,
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const void * ros_goal_request)
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{
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SEND_SERVICE_REQUEST(goal)
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}
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rcl_ret_t
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rcl_action_take_goal_response(
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const rcl_action_client_t * action_client,
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void * ros_goal_response)
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{
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TAKE_SERVICE_RESPONSE(goal);
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}
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rcl_ret_t
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rcl_action_send_result_request(
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const rcl_action_client_t * action_client,
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const void * ros_result_request)
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{
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SEND_SERVICE_REQUEST(result);
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}
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rcl_ret_t
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rcl_action_take_result_response(
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const rcl_action_client_t * action_client,
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void * ros_result_response)
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{
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TAKE_SERVICE_RESPONSE(result);
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}
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rcl_ret_t
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rcl_action_send_cancel_request(
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const rcl_action_client_t * action_client,
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const void * ros_cancel_request)
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{
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SEND_SERVICE_REQUEST(cancel);
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}
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rcl_ret_t
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rcl_action_take_cancel_response(
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const rcl_action_client_t * action_client,
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void * ros_cancel_response)
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{
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TAKE_SERVICE_RESPONSE(cancel);
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}
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// \internal Takes an action client specific topic message.
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#define TAKE_MESSAGE(Type) \
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type); \
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if (!rcl_action_client_is_valid(action_client)) { \
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return RCL_RET_ACTION_CLIENT_INVALID; /* error already set */ \
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} \
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RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type, RCL_RET_INVALID_ARGUMENT); \
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rmw_message_info_t message_info; /* ignored */ \
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rcl_ret_t ret = rcl_take( \
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&action_client->impl->Type ## _subscription, ros_ ## Type, &message_info); \
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if (RCL_RET_OK != ret) { \
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if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) { \
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return RCL_RET_ACTION_CLIENT_TAKE_FAILED; \
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} \
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if (RCL_RET_BAD_ALLOC == ret) { \
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return RCL_RET_BAD_ALLOC; \
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} \
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return RCL_RET_ERROR; \
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} \
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action " #Type " taken"); \
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return RCL_RET_OK;
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rcl_ret_t
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rcl_action_take_feedback(
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const rcl_action_client_t * action_client,
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void * ros_feedback)
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{
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TAKE_MESSAGE(feedback);
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}
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rcl_ret_t
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rcl_action_take_status(
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const rcl_action_client_t * action_client,
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void * ros_status)
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{
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TAKE_MESSAGE(status);
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}
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const char *
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rcl_action_client_get_action_name(const rcl_action_client_t * action_client)
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{
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if (!rcl_action_client_is_valid(action_client)) {
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return NULL;
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}
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return action_client->impl->action_name;
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}
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const rcl_action_client_options_t *
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rcl_action_client_get_options(const rcl_action_client_t * action_client)
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{
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if (!rcl_action_client_is_valid(action_client)) {
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return NULL;
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}
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return &action_client->impl->options;
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}
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bool
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rcl_action_client_is_valid(const rcl_action_client_t * action_client)
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{
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RCL_CHECK_FOR_NULL_WITH_MSG(
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action_client, "action client pointer is invalid", return false);
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RCL_CHECK_FOR_NULL_WITH_MSG(
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action_client->impl, "action client implementation is invalid", return false);
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if (!rcl_client_is_valid(&action_client->impl->goal_client)) {
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RCL_SET_ERROR_MSG("goal client is invalid");
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return false;
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}
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if (!rcl_client_is_valid(&action_client->impl->cancel_client)) {
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RCL_SET_ERROR_MSG("cancel client is invalid");
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return false;
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}
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if (!rcl_client_is_valid(&action_client->impl->result_client)) {
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RCL_SET_ERROR_MSG("result client is invalid");
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return false;
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}
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if (!rcl_subscription_is_valid(&action_client->impl->feedback_subscription)) {
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RCL_SET_ERROR_MSG("feedback subscription is invalid");
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return false;
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}
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if (!rcl_subscription_is_valid(&action_client->impl->status_subscription)) {
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RCL_SET_ERROR_MSG("status subscription is invalid");
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return false;
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}
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return true;
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}
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rcl_ret_t
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rcl_action_wait_set_add_action_client(
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rcl_wait_set_t * wait_set,
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const rcl_action_client_t * action_client)
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||||
{
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rcl_ret_t ret;
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RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_WAIT_SET_INVALID);
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if (!rcl_action_client_is_valid(action_client)) {
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return RCL_RET_ACTION_CLIENT_INVALID; // error already set
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||||
}
|
||||
// Wait on action goal service response messages.
|
||||
ret = rcl_wait_set_add_client(wait_set, &action_client->impl->goal_client);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return ret;
|
||||
}
|
||||
// Wait on action cancel service response messages.
|
||||
ret = rcl_wait_set_add_client(wait_set, &action_client->impl->cancel_client);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return ret;
|
||||
}
|
||||
// Wait on action result service response messages.
|
||||
ret = rcl_wait_set_add_client(wait_set, &action_client->impl->result_client);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return ret;
|
||||
}
|
||||
// Wait on action feedback messages.
|
||||
ret = rcl_wait_set_add_subscription(wait_set, &action_client->impl->feedback_subscription);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return ret;
|
||||
}
|
||||
return RCL_RET_OK;
|
||||
// Wait on action status messages.
|
||||
ret = rcl_wait_set_add_subscription(wait_set, &action_client->impl->status_subscription);
|
||||
if (RCL_RET_OK != ret) {
|
||||
return ret;
|
||||
}
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_client_wait_set_get_num_entities(
|
||||
const rcl_action_client_t * action_client,
|
||||
size_t * num_subscriptions,
|
||||
size_t * num_guard_conditions,
|
||||
size_t * num_timers,
|
||||
size_t * num_clients,
|
||||
size_t * num_services)
|
||||
{
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID; // error already set
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(num_subscriptions, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(num_guard_conditions, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(num_timers, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(num_clients, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(num_services, RCL_RET_INVALID_ARGUMENT);
|
||||
*num_subscriptions = 2;
|
||||
*num_guard_conditions = 0;
|
||||
*num_timers = 0;
|
||||
*num_clients = 3;
|
||||
*num_services = 0;
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
rcl_ret_t
|
||||
rcl_action_client_wait_set_get_entities_ready(
|
||||
const rcl_wait_set_t * wait_set,
|
||||
const rcl_action_client_t * action_client,
|
||||
bool * is_feedback_ready,
|
||||
bool * is_status_ready,
|
||||
bool * is_goal_response_ready,
|
||||
bool * is_cancel_response_ready,
|
||||
bool * is_result_response_ready)
|
||||
{
|
||||
if (!rcl_action_client_is_valid(action_client)) {
|
||||
return RCL_RET_ACTION_CLIENT_INVALID; // error already set
|
||||
}
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(is_feedback_ready, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(is_status_ready, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(is_goal_response_ready, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(is_cancel_response_ready, RCL_RET_INVALID_ARGUMENT);
|
||||
RCL_CHECK_ARGUMENT_FOR_NULL(is_result_response_ready, RCL_RET_INVALID_ARGUMENT);
|
||||
if (2 != wait_set->size_of_subscriptions || 3 != wait_set->size_of_clients) {
|
||||
RCL_SET_ERROR_MSG("wait set not initialized or not used by the action client alone");
|
||||
return RCL_RET_WAIT_SET_INVALID;
|
||||
}
|
||||
*is_feedback_ready = !!wait_set->subscriptions[0];
|
||||
*is_status_ready = !!wait_set->subscriptions[1];
|
||||
*is_goal_response_ready = !!wait_set->clients[0];
|
||||
*is_cancel_response_ready = !!wait_set->clients[1];
|
||||
*is_result_response_ready = !!wait_set->clients[2];
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
Loading…
Add table
Add a link
Reference in a new issue