b5039d20d7
* Add action graph API Builds on top of the rcl graph API. A list of action names associated with action clients can be constructed by looking for subscriber topic names that have the suffix "/_action/feedback". Likewise, action servers are associated with publisher topic names with the same suffix. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Enable multiple rmw action graph API tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use ament_target_dependencies for osrf_testing_tools_cpp Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix lint errors Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor * Move graph API common implementation to local function * Refactor tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Disable graph tests with OpenSplice Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include graph.h in rcl_action.h Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove duplicate test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Prefix increment operators Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Rename 'suffix' -> 'identifier' Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add missing finalize calls and remove redundant branch Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Finalize names and types struct on error Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix bugs in tests Pass valid names and types struct and update expected error code. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add zero allocator tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix indentation Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Check if action identifiers are the suffix Signed-off-by: Jacob Perron <jacob@openrobotics.org>
63 lines
1.9 KiB
C
63 lines
1.9 KiB
C
// 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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/** \mainpage rcl: Common functionality ROS actions
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*
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* `rcl_action` provides a pure C implementation of the ROS concept of an \b action.
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* It builds on top of the implementation of topics and services in `rcl`.
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*
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* `rcl_action` consists of functions and structs for the following ROS action entities:
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*
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* - Action client
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* - rcl_action/action_client.h
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* - Action server
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* - rcl_action/action_server.h
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* - Goal handle
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* - rcl_action/goal_handle.h
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* - Goal state machine
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* - rcl_action/goal_state_machine.h
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*
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* It also has some machinery that is necessary to wait on and act on these entities:
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*
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* - Wait sets for waiting on actions clients and action servers to be ready
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* - rcl_action/wait.h
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*
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* Some useful abstractions and utilities:
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*
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* - Return codes and other types
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* - rcl_action/types.h
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*/
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#ifndef RCL_ACTION__RCL_ACTION_H_
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#define RCL_ACTION__RCL_ACTION_H_
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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/action_server.h"
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#include "rcl_action/default_qos.h"
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#include "rcl_action/goal_handle.h"
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#include "rcl_action/goal_state_machine.h"
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#include "rcl_action/graph.h"
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#include "rcl_action/types.h"
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#include "rcl_action/wait.h"
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#ifdef __cplusplus
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}
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#endif
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#endif // RCL_ACTION__RCL_ACTION_H_
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