[rcl_action] Implement init/fini functions for types (#312)

* Refactored API. Removed init/fini functions for types that do not necessarily need allocation on the heap.
* Added unit tests for implementation.

rcl_action/src/rcl_action/types.c

@@ -0,0 +1,128 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl_action/types.h"
+
+#include "rcl/error_handling.h"
+
+
+rcl_action_goal_info_t
+rcl_action_get_zero_initialized_goal_info(void)
+{
+  static rcl_action_goal_info_t goal_info = {{0}, {0, 0}};
+  return goal_info;
+}
+
+rcl_action_goal_status_array_t
+rcl_action_get_zero_initialized_goal_status_array(void)
+{
+  static rcl_action_goal_status_array_t status_array = {{0, 0, 0}};
+  return status_array;
+}
+
+rcl_action_cancel_request_t
+rcl_action_get_zero_initialized_cancel_request(void)
+{
+  static rcl_action_cancel_request_t request = {{{0}, {0, 0}}};
+  return request;
+}
+
+rcl_action_cancel_response_t
+rcl_action_get_zero_initialized_cancel_response(void)
+{
+  static rcl_action_cancel_response_t response = {{0, 0, 0}};
+  return response;
+}
+
+rcl_ret_t
+rcl_action_goal_status_array_init(
+  rcl_action_goal_status_array_t * status_array,
+  const size_t num_status,
+  const rcl_allocator_t allocator)
+{
+  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(status_array, RCL_RET_INVALID_ARGUMENT, allocator);
+  // Ensure status array is zero initialized
+  if (status_array->status_list.size > 0) {
+    RCL_SET_ERROR_MSG("status_array already inititalized", allocator);
+    return RCL_RET_ALREADY_INIT;
+  }
+  // Allocate space for status array
+  status_array->status_list.data = (rcl_action_goal_status_t *) allocator.zero_allocate(
+    num_status, sizeof(rcl_action_goal_status_t), allocator.state);
+  if (!status_array->status_list.data) {
+    return RCL_RET_BAD_ALLOC;
+  }
+  status_array->status_list.size = num_status;
+  return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_goal_status_array_fini(
+  rcl_action_goal_status_array_t * status_array,
+  const rcl_allocator_t allocator)
+{
+  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(status_array, RCL_RET_INVALID_ARGUMENT, allocator);
+  if (!status_array->status_list.data) {
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  allocator.deallocate(status_array->status_list.data, allocator.state);
+  return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_cancel_response_init(
+  rcl_action_cancel_response_t * cancel_response,
+  const size_t num_goals_canceling,
+  const rcl_allocator_t allocator)
+{
+  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(cancel_response, RCL_RET_INVALID_ARGUMENT, allocator);
+  // Ensure cancel response is zero initialized
+  if (cancel_response->goals_canceling.size > 0) {
+    RCL_SET_ERROR_MSG("cancel_response already inititalized", allocator);
+    return RCL_RET_ALREADY_INIT;
+  }
+  // Allocate space for cancel response
+  cancel_response->goals_canceling.data = (rcl_action_goal_info_t *) allocator.zero_allocate(
+    num_goals_canceling, sizeof(rcl_action_goal_info_t), allocator.state);
+  if (!cancel_response->goals_canceling.data) {
+    return RCL_RET_BAD_ALLOC;
+  }
+  cancel_response->goals_canceling.size = num_goals_canceling;
+  return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_cancel_response_fini(
+  rcl_action_cancel_response_t * cancel_response,
+  const rcl_allocator_t allocator)
+{
+  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(cancel_response, RCL_RET_INVALID_ARGUMENT, allocator);
+  if (!cancel_response->goals_canceling.data) {
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  allocator.deallocate(cancel_response->goals_canceling.data, allocator.state);
+  return RCL_RET_OK;
+}
+
+#ifdef __cplusplus
+}
+#endif