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Rename action state transitions (#677)

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* Rename action state transitions

Now using active verbs as described in the design doc:

http://design.ros2.org/articles/actions.html#goal-states

Connects to ros2/rcl#399.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-04-16 04:46:40 -07:00 • committed by GitHub
parent 70f48d68b9
commit 68d0ac1e61
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 30 additions and 30 deletions
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22
rclcpp_action/src/server_goal_handle.cpp
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@ -58,47 +58,47 @@ ServerGoalHandleBase::is_executing() const
}
void
ServerGoalHandleBase::_set_aborted()
ServerGoalHandleBase::_abort()
{
std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_SET_ABORTED);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_ABORT);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
void
ServerGoalHandleBase::_set_succeeded()
ServerGoalHandleBase::_succeed()
{
std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_SET_SUCCEEDED);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_SUCCEED);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
void
ServerGoalHandleBase::_set_canceling()
ServerGoalHandleBase::_cancel_goal()
{
std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCEL);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCEL_GOAL);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
void
ServerGoalHandleBase::_set_canceled()
ServerGoalHandleBase::_canceled()
{
std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_SET_CANCELED);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCELED);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
void
ServerGoalHandleBase::_set_executing()
ServerGoalHandleBase::_execute()
{
std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_EXECUTE);
@ -116,7 +116,7 @@ ServerGoalHandleBase::try_canceling() noexcept
const bool is_cancelable = rcl_action_goal_handle_is_cancelable(rcl_handle_.get());
if (is_cancelable) {
// Transition to CANCELING
ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCEL);
ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCEL_GOAL);
if (RCL_RET_OK != ret) {
return false;
}
@ -131,7 +131,7 @@ ServerGoalHandleBase::try_canceling() noexcept
// If it's canceling, cancel it
if (GOAL_STATE_CANCELING == state) {
ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_SET_CANCELED);
ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCELED);
return RCL_RET_OK == ret;
}