
* Removed doxygen warnings Signed-off-by: ahcorde <ahcorde@gmail.com> * added feedback Signed-off-by: ahcorde <ahcorde@gmail.com>
268 lines
8.9 KiB
C
268 lines
8.9 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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#ifndef RCL_ACTION__GOAL_HANDLE_H_
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#define RCL_ACTION__GOAL_HANDLE_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/goal_state_machine.h"
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#include "rcl_action/types.h"
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#include "rcl_action/visibility_control.h"
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#include "rcl/allocator.h"
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/// Internal rcl action goal implementation struct.
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struct rcl_action_goal_handle_impl_t;
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/// Goal handle for an action.
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typedef struct rcl_action_goal_handle_t
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{
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/// Pointer to the action goal handle implementation
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struct rcl_action_goal_handle_impl_t * impl;
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} rcl_action_goal_handle_t;
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/// Return a rcl_action_goal_handle_t struct with members set to `NULL`.
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/**
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* Should be called to get a null rcl_action_goal_handle_t before passing to
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* rcl_action_goal_handle_init().
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_action_goal_handle_t
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rcl_action_get_zero_initialized_goal_handle(void);
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/// Initialize a rcl_action_goal_handle_t.
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/**
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* After calling this function on a rcl_action_goal_handle_t, it can be used to update the
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* goals state with rcl_action_update_goal_state().
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* It can also be used to query the state of the goal with
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* rcl_action_goal_handle_get_message() and rcl_action_goal_handle_is_active().
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* Goal information can be accessed with rcl_action_goal_handle_get_message() and
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* rcl_action_goal_handle_get_info().
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*
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* Goal handles are typically initialized and finalized by action servers.
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* I.e. The allocator should be provided by the action server.
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* Goal handles are created with rcl_action_accept_new_goal() and destroyed with
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* rcl_action_clear_expired_goals() or rcl_action_server_fini().
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[out] goal_handle preallocated, zero-initialized, goal handle structure
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* to be initialized
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* \param[in] goal_info information about the goal to be copied to the goal handle
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* \param[in] allocator a valid allocator used to initialized the goal handle
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* \return `RCL_RET_OK` if goal_handle was initialized successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if the allocator is invalid, or
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* \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
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* \return `RCL_RET_ALREADY_INIT` if the goal handle has already been initialized, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_goal_handle_init(
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rcl_action_goal_handle_t * goal_handle,
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const rcl_action_goal_info_t * goal_info,
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rcl_allocator_t allocator);
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/// Finalize a rcl_action_goal_handle_t.
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/**
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* After calling, rcl_action_goal_handle_t will no longer be valid and
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* rcl_action_server_t will no longer track the goal associated with the goal handle.
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*
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* After calling, calls to rcl_action_publish_feedback(), rcl_action_publish_status(),
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* rcl_action_update_goal_state(), rcl_action_goal_handle_get_status(),
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* rcl_action_goal_handle_is_active(), rcl_action_goal_handle_get_message(), and
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* rcl_action_goal_handle_get_info() will fail when using this goal handle.
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*
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* However, the given action server is still valid.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[inout] goal_handle struct to be deinitialized
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* \return `RCL_RET_OK` if the goal handle was deinitialized successfully, or
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* \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_goal_handle_fini(rcl_action_goal_handle_t * goal_handle);
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/// Update a goal state with a rcl_action_goal_handle_t and an event.
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/**
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* This is a non-blocking call.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[inout] goal_handle struct containing goal state to transition
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* \param[in] goal_event the event used to transition the goal state
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* \return `RCL_RET_OK` if the goal state was updated successfully, or
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* \return `RCL_RET_ACTION_GOAL_EVENT_INVALID` if the goal event is invalid, or
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* \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_update_goal_state(
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rcl_action_goal_handle_t * goal_handle,
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const rcl_action_goal_event_t goal_event);
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/// Get the ID of a goal using a rcl_action_goal_handle_t.
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/**
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* This is a non-blocking call.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct containing the goal and meta
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* \param[out] goal_info a preallocated struct where the goal info is copied
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* \return `RCL_RET_OK` if the goal ID was accessed successfully, or
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* \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
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* \return `RCL_RET_INVALID_ARGUMENT` if the goal_info argument is invalid
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_goal_handle_get_info(
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const rcl_action_goal_handle_t * goal_handle,
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rcl_action_goal_info_t * goal_info);
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/// Get the status of a goal.
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/**
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* This is a non-blocking call.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct containing the goal and metadata
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* \param[out] status a preallocated struct where the goal status is copied
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* \return `RCL_RET_OK` if the goal ID was accessed successfully, or
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* \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
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* \return `RCL_RET_INVALID_ARGUMENT` if the status argument is invalid
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_goal_handle_get_status(
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const rcl_action_goal_handle_t * goal_handle,
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rcl_action_goal_state_t * status);
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/// Check if a goal is active using a rcl_action_goal_handle_t.
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/**
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* This is a non-blocking call.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct containing the goal and metadata
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* \return `true` if the goal is in one of the following states: ACCEPTED, EXECUTING, or CANCELING, or
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* \return `false` if the goal handle pointer is invalid, or
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* \return `false` otherwise
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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bool
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rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle);
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/// Check if a goal can be transitioned to CANCELING in its current state.
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/**
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* This is a non-blocking call.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct containing the goal and metadata
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* \return `true` if the goal can be transitioned to CANCELING from its current state, or
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* \return `false` if the goal handle pointer is invalid, or
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* \return `false` otherwise
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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bool
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rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handle);
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/// Check if a rcl_action_goal_handle_t is valid.
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/**
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* This is a non-blocking call.
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*
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* A goal handle is invalid if:
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* - the implementation is `NULL` (rcl_action_goal_handle_init() not called or failed)
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* - rcl_shutdown() has been called since the goal handle has been initialized
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* - the goal handle has been finalized with rcl_action_goal_handle_fini()
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] goal_handle struct to evaluate as valid or not
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* \return `true` if the goal handle is valid, or
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* \return `false` if the goal handle pointer is null, or
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* \return `false` otherwise
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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bool
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rcl_action_goal_handle_is_valid(const rcl_action_goal_handle_t * goal_handle);
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#ifdef __cplusplus
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}
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#endif
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#endif // RCL_ACTION__GOAL_HANDLE_H_
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