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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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2
rclcpp_action/include/rclcpp_action/server.hpp
View file

@ -360,7 +360,7 @@ protected:
if (goal_handle) { if (goal_handle) {
resp = handle_cancel_(goal_handle); resp = handle_cancel_(goal_handle);
if (CancelResponse::ACCEPT == resp) { if (CancelResponse::ACCEPT == resp) {
goal_handle->_set_canceling(); goal_handle->_cancel_goal();
} }
} }
} }

26
rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
View file

@ -80,27 +80,27 @@ protected:
/// \internal /// \internal
RCLCPP_ACTION_PUBLIC RCLCPP_ACTION_PUBLIC
void void
_set_aborted(); _abort();
/// \internal /// \internal
RCLCPP_ACTION_PUBLIC RCLCPP_ACTION_PUBLIC
void void
_set_succeeded(); _succeed();
/// \internal /// \internal
RCLCPP_ACTION_PUBLIC RCLCPP_ACTION_PUBLIC
void void
_set_canceling(); _cancel_goal();
/// \internal /// \internal
RCLCPP_ACTION_PUBLIC RCLCPP_ACTION_PUBLIC
void void
_set_canceled(); _canceled();
/// \internal /// \internal
RCLCPP_ACTION_PUBLIC RCLCPP_ACTION_PUBLIC
void void
_set_executing(); _execute();
/// Transition the goal to canceled state if it never reached a terminal state. /// Transition the goal to canceled state if it never reached a terminal state.
/// \internal /// \internal
@ -165,9 +165,9 @@ public:
* \param[in] result_msg the final result to send to clients. * \param[in] result_msg the final result to send to clients.
*/ */
void void
set_aborted(typename ActionT::Result::SharedPtr result_msg) abort(typename ActionT::Result::SharedPtr result_msg)
{ {
_set_aborted(); _abort();
auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>(); auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
response->status = action_msgs::msg::GoalStatus::STATUS_ABORTED; response->status = action_msgs::msg::GoalStatus::STATUS_ABORTED;
response->result = *result_msg; response->result = *result_msg;
@ -185,9 +185,9 @@ public:
* \param[in] result_msg the final result to send to clients. * \param[in] result_msg the final result to send to clients.
*/ */
void void
set_succeeded(typename ActionT::Result::SharedPtr result_msg) succeed(typename ActionT::Result::SharedPtr result_msg)
{ {
_set_succeeded(); _succeed();
auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>(); auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
response->status = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED; response->status = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED;
response->result = *result_msg; response->result = *result_msg;
@ -205,9 +205,9 @@ public:
* \param[in] result_msg the final result to send to clients. * \param[in] result_msg the final result to send to clients.
*/ */
void void
set_canceled(typename ActionT::Result::SharedPtr result_msg) canceled(typename ActionT::Result::SharedPtr result_msg)
{ {
_set_canceled(); _canceled();
auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>(); auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
response->status = action_msgs::msg::GoalStatus::STATUS_CANCELED; response->status = action_msgs::msg::GoalStatus::STATUS_CANCELED;
response->result = *result_msg; response->result = *result_msg;
@ -221,9 +221,9 @@ public:
* \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing. * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
*/ */
void void
set_executing() execute()
{ {
_set_executing(); _execute();
on_executing_(uuid_); on_executing_(uuid_);
} }

22
rclcpp_action/src/server_goal_handle.cpp
View file

@ -58,47 +58,47 @@ ServerGoalHandleBase::is_executing() const
} }
void void
ServerGoalHandleBase::_set_aborted() ServerGoalHandleBase::_abort()
{ {
std::lock_guard<std::mutex> lock(rcl_handle_mutex_); 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) { if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret); rclcpp::exceptions::throw_from_rcl_error(ret);
} }
} }
void void
ServerGoalHandleBase::_set_succeeded() ServerGoalHandleBase::_succeed()
{ {
std::lock_guard<std::mutex> lock(rcl_handle_mutex_); 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) { if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret); rclcpp::exceptions::throw_from_rcl_error(ret);
} }
} }
void void
ServerGoalHandleBase::_set_canceling() ServerGoalHandleBase::_cancel_goal()
{ {
std::lock_guard<std::mutex> lock(rcl_handle_mutex_); 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) { if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret); rclcpp::exceptions::throw_from_rcl_error(ret);
} }
} }
void void
ServerGoalHandleBase::_set_canceled() ServerGoalHandleBase::_canceled()
{ {
std::lock_guard<std::mutex> lock(rcl_handle_mutex_); 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) { if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret); rclcpp::exceptions::throw_from_rcl_error(ret);
} }
} }
void void
ServerGoalHandleBase::_set_executing() ServerGoalHandleBase::_execute()
{ {
std::lock_guard<std::mutex> lock(rcl_handle_mutex_); std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
rcl_ret_t ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_EXECUTE); 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()); const bool is_cancelable = rcl_action_goal_handle_is_cancelable(rcl_handle_.get());
if (is_cancelable) { if (is_cancelable) {
// Transition to CANCELING // 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) { if (RCL_RET_OK != ret) {
return false; return false;
} }
@ -131,7 +131,7 @@ ServerGoalHandleBase::try_canceling() noexcept
// If it's canceling, cancel it // If it's canceling, cancel it
if (GOAL_STATE_CANCELING == state) { 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; return RCL_RET_OK == ret;
} }

10
rclcpp_action/test/test_server.cpp
View file

@ -364,7 +364,7 @@ TEST_F(TestServer, publish_status_canceled)
send_goal_request(node, uuid); send_goal_request(node, uuid);
send_cancel_request(node, uuid); send_cancel_request(node, uuid);
received_handle->set_canceled(std::make_shared<Fibonacci::Result>()); received_handle->canceled(std::make_shared<Fibonacci::Result>());
// 10 seconds // 10 seconds
const size_t max_tries = 10 * 1000 / 100; const size_t max_tries = 10 * 1000 / 100;
@ -419,7 +419,7 @@ TEST_F(TestServer, publish_status_succeeded)
}); });
send_goal_request(node, uuid); send_goal_request(node, uuid);
received_handle->set_succeeded(std::make_shared<Fibonacci::Result>()); received_handle->succeed(std::make_shared<Fibonacci::Result>());
// 10 seconds // 10 seconds
const size_t max_tries = 10 * 1000 / 100; const size_t max_tries = 10 * 1000 / 100;
@ -474,7 +474,7 @@ TEST_F(TestServer, publish_status_aborted)
}); });
send_goal_request(node, uuid); send_goal_request(node, uuid);
received_handle->set_aborted(std::make_shared<Fibonacci::Result>()); received_handle->abort(std::make_shared<Fibonacci::Result>());
// 10 seconds // 10 seconds
const size_t max_tries = 10 * 1000 / 100; const size_t max_tries = 10 * 1000 / 100;
@ -592,7 +592,7 @@ TEST_F(TestServer, get_result)
// Send a result // Send a result
auto result = std::make_shared<Fibonacci::Result>(); auto result = std::make_shared<Fibonacci::Result>();
result->sequence = {5, 8, 13, 21}; result->sequence = {5, 8, 13, 21};
received_handle->set_succeeded(result); received_handle->succeed(result);
// Wait for the result request to be received // Wait for the result request to be received
ASSERT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS, ASSERT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
@ -637,6 +637,6 @@ TEST_F(TestServer, deferred_execution)
EXPECT_TRUE(received_handle->is_active()); EXPECT_TRUE(received_handle->is_active());
EXPECT_FALSE(received_handle->is_executing()); EXPECT_FALSE(received_handle->is_executing());
received_handle->set_executing(); received_handle->execute();
EXPECT_TRUE(received_handle->is_executing()); EXPECT_TRUE(received_handle->is_executing());
} }