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adapt to action implicit changes (#602)

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Shane Loretz 2018-12-06 16:42:25 -08:00 • committed by GitHub
parent fe09d937b7
commit ef2014ac4d
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5 changed files with 31 additions and 29 deletions
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10
rclcpp_action/include/rclcpp_action/client.hpp
View file

@ -265,7 +265,7 @@ public:
// goal_request->goal_id = this->generate_goal_id(); // goal_request->goal_id = this->generate_goal_id();
// goal_request->goal = goal; // goal_request->goal = goal;
auto goal_request = std::make_shared<GoalRequest>(goal); auto goal_request = std::make_shared<GoalRequest>(goal);
goal_request->uuid = this->generate_goal_id(); goal_request->action_goal_id.uuid = this->generate_goal_id();
this->send_goal_request( this->send_goal_request(
std::static_pointer_cast<void>(goal_request), std::static_pointer_cast<void>(goal_request),
[this, goal_request, callback, ignore_result, promise]( [this, goal_request, callback, ignore_result, promise](
@ -279,7 +279,7 @@ public:
} }
GoalInfo goal_info; GoalInfo goal_info;
// goal_info.goal_id = goal_request->goal_id; // goal_info.goal_id = goal_request->goal_id;
goal_info.goal_id.uuid = goal_request->uuid; goal_info.goal_id.uuid = goal_request->action_goal_id.uuid;
goal_info.stamp = goal_response->stamp; goal_info.stamp = goal_response->stamp;
// Do not use std::make_shared as friendship cannot be forwarded. // Do not use std::make_shared as friendship cannot be forwarded.
std::shared_ptr<GoalHandle> goal_handle(new GoalHandle(goal_info, callback)); std::shared_ptr<GoalHandle> goal_handle(new GoalHandle(goal_info, callback));
@ -419,7 +419,7 @@ private:
typename Feedback::SharedPtr feedback_message = typename Feedback::SharedPtr feedback_message =
std::static_pointer_cast<Feedback>(message); std::static_pointer_cast<Feedback>(message);
// const GoalID & goal_id = feedback_message->goal_id; // const GoalID & goal_id = feedback_message->goal_id;
const GoalID & goal_id = feedback_message->uuid; const GoalID & goal_id = feedback_message->action_goal_id.uuid;
if (goal_handles_.count(goal_id) == 0) { if (goal_handles_.count(goal_id) == 0) {
RCLCPP_DEBUG( RCLCPP_DEBUG(
this->get_logger(), this->get_logger(),
@ -475,7 +475,7 @@ private:
using GoalResultRequest = typename ActionT::GoalResultService::Request; using GoalResultRequest = typename ActionT::GoalResultService::Request;
auto goal_result_request = std::make_shared<GoalResultRequest>(); auto goal_result_request = std::make_shared<GoalResultRequest>();
// goal_result_request.goal_id = goal_handle->get_goal_id(); // goal_result_request.goal_id = goal_handle->get_goal_id();
goal_result_request->uuid = goal_handle->get_goal_id(); goal_result_request->action_goal_id.uuid = goal_handle->get_goal_id();
this->send_result_request( this->send_result_request(
std::static_pointer_cast<void>(goal_result_request), std::static_pointer_cast<void>(goal_result_request),
[goal_handle, this](std::shared_ptr<void> response) mutable [goal_handle, this](std::shared_ptr<void> response) mutable
@ -485,7 +485,7 @@ private:
using GoalResultResponse = typename ActionT::GoalResultService::Response; using GoalResultResponse = typename ActionT::GoalResultService::Response;
result.response = std::static_pointer_cast<GoalResultResponse>(response); result.response = std::static_pointer_cast<GoalResultResponse>(response);
result.goal_id = goal_handle->get_goal_id(); result.goal_id = goal_handle->get_goal_id();
result.code = static_cast<ResultCode>(result.response->status); result.code = static_cast<ResultCode>(result.response->action_status);
goal_handle->set_result(result); goal_handle->set_result(result);
std::lock_guard<std::mutex> lock(goal_handles_mutex_); std::lock_guard<std::mutex> lock(goal_handles_mutex_);
goal_handles_.erase(goal_handle->get_goal_id()); goal_handles_.erase(goal_handle->get_goal_id());

8
rclcpp_action/include/rclcpp_action/server.hpp
View file

@ -434,7 +434,8 @@ protected:
GoalID GoalID
get_goal_id_from_goal_request(void * message) override get_goal_id_from_goal_request(void * message) override
{ {
return static_cast<typename ActionT::GoalRequestService::Request *>(message)->uuid; return
static_cast<typename ActionT::GoalRequestService::Request *>(message)->action_goal_id.uuid;
} }
/// \internal /// \internal
@ -448,7 +449,8 @@ protected:
GoalID GoalID
get_goal_id_from_result_request(void * message) override get_goal_id_from_result_request(void * message) override
{ {
return static_cast<typename ActionT::GoalResultService::Request *>(message)->uuid; return
static_cast<typename ActionT::GoalResultService::Request *>(message)->action_goal_id.uuid;
} }
/// \internal /// \internal
@ -463,7 +465,7 @@ protected:
create_result_response(decltype(action_msgs::msg::GoalStatus::status) status) override create_result_response(decltype(action_msgs::msg::GoalStatus::status) status) override
{ {
auto result = std::make_shared<typename ActionT::GoalResultService::Response>(); auto result = std::make_shared<typename ActionT::GoalResultService::Response>();
result->status = status; result->action_status = status;
return std::static_pointer_cast<void>(result); return std::static_pointer_cast<void>(result);
} }

10
rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
View file

@ -147,7 +147,7 @@ public:
void void
publish_feedback(std::shared_ptr<typename ActionT::Feedback> feedback_msg) publish_feedback(std::shared_ptr<typename ActionT::Feedback> feedback_msg)
{ {
feedback_msg->uuid = uuid_; feedback_msg->action_goal_id.uuid = uuid_;
publish_feedback_(feedback_msg); publish_feedback_(feedback_msg);
} }
@ -165,7 +165,7 @@ public:
set_aborted(typename ActionT::Result::SharedPtr result_msg) set_aborted(typename ActionT::Result::SharedPtr result_msg)
{ {
_set_aborted(); _set_aborted();
result_msg->status = action_msgs::msg::GoalStatus::STATUS_ABORTED; result_msg->action_status = action_msgs::msg::GoalStatus::STATUS_ABORTED;
on_terminal_state_(uuid_, result_msg); on_terminal_state_(uuid_, result_msg);
} }
@ -182,7 +182,7 @@ public:
set_succeeded(typename ActionT::Result::SharedPtr result_msg) set_succeeded(typename ActionT::Result::SharedPtr result_msg)
{ {
_set_succeeded(); _set_succeeded();
result_msg->status = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED; result_msg->action_status = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED;
on_terminal_state_(uuid_, result_msg); on_terminal_state_(uuid_, result_msg);
} }
@ -199,7 +199,7 @@ public:
set_canceled(typename ActionT::Result::SharedPtr result_msg) set_canceled(typename ActionT::Result::SharedPtr result_msg)
{ {
_set_canceled(); _set_canceled();
result_msg->status = action_msgs::msg::GoalStatus::STATUS_CANCELED; result_msg->action_status = action_msgs::msg::GoalStatus::STATUS_CANCELED;
on_terminal_state_(uuid_, result_msg); on_terminal_state_(uuid_, result_msg);
} }
@ -234,7 +234,7 @@ public:
// Cancel goal if handle was allowed to destruct without reaching a terminal state // Cancel goal if handle was allowed to destruct without reaching a terminal state
if (try_canceling()) { if (try_canceling()) {
auto null_result = std::make_shared<typename ActionT::Result>(); auto null_result = std::make_shared<typename ActionT::Result>();
null_result->status = action_msgs::msg::GoalStatus::STATUS_CANCELED; null_result->action_status = action_msgs::msg::GoalStatus::STATUS_CANCELED;
on_terminal_state_(uuid_, null_result); on_terminal_state_(uuid_, null_result);
} }
} }

22
rclcpp_action/test/test_client.cpp
View file

@ -90,7 +90,7 @@ protected:
response->stamp = clock.now(); response->stamp = clock.now();
response->accepted = (request->order >= 0); response->accepted = (request->order >= 0);
if (response->accepted) { if (response->accepted) {
goals[request->uuid] = {request, response}; goals[request->action_goal_id.uuid] = {request, response};
} }
}); });
ASSERT_TRUE(goal_service != nullptr); ASSERT_TRUE(goal_service != nullptr);
@ -106,19 +106,19 @@ protected:
const ActionGoalResultRequest::SharedPtr request, const ActionGoalResultRequest::SharedPtr request,
ActionGoalResultResponse::SharedPtr response) ActionGoalResultResponse::SharedPtr response)
{ {
if (goals.count(request->uuid) == 1) { if (goals.count(request->action_goal_id.uuid) == 1) {
auto goal_request = goals[request->uuid].first; auto goal_request = goals[request->action_goal_id.uuid].first;
auto goal_response = goals[request->uuid].second; auto goal_response = goals[request->action_goal_id.uuid].second;
ActionStatusMessage status_message; ActionStatusMessage status_message;
rclcpp_action::GoalStatus goal_status; rclcpp_action::GoalStatus goal_status;
goal_status.goal_info.goal_id.uuid = goal_request->uuid; goal_status.goal_info.goal_id.uuid = goal_request->action_goal_id.uuid;
goal_status.goal_info.stamp = goal_response->stamp; goal_status.goal_info.stamp = goal_response->stamp;
goal_status.status = rclcpp_action::GoalStatus::STATUS_EXECUTING; goal_status.status = rclcpp_action::GoalStatus::STATUS_EXECUTING;
status_message.status_list.push_back(goal_status); status_message.status_list.push_back(goal_status);
status_publisher->publish(status_message); status_publisher->publish(status_message);
client_executor.spin_once(); client_executor.spin_once();
ActionFeedbackMessage feedback_message; ActionFeedbackMessage feedback_message;
feedback_message.uuid = goal_request->uuid; feedback_message.action_goal_id.uuid = goal_request->action_goal_id.uuid;
feedback_message.sequence.push_back(0); feedback_message.sequence.push_back(0);
feedback_publisher->publish(feedback_message); feedback_publisher->publish(feedback_message);
client_executor.spin_once(); client_executor.spin_once();
@ -138,10 +138,10 @@ protected:
status_publisher->publish(status_message); status_publisher->publish(status_message);
client_executor.spin_once(); client_executor.spin_once();
response->sequence = feedback_message.sequence; response->sequence = feedback_message.sequence;
response->status = rclcpp_action::GoalStatus::STATUS_SUCCEEDED; response->action_status = rclcpp_action::GoalStatus::STATUS_SUCCEEDED;
goals.erase(request->uuid); goals.erase(request->action_goal_id.uuid);
} else { } else {
response->status = rclcpp_action::GoalStatus::STATUS_UNKNOWN; response->action_status = rclcpp_action::GoalStatus::STATUS_UNKNOWN;
} }
}); });
ASSERT_TRUE(result_service != nullptr); ASSERT_TRUE(result_service != nullptr);
@ -170,11 +170,11 @@ protected:
auto goal_response = it->second.second; auto goal_response = it->second.second;
const rclcpp::Time goal_stamp = goal_response->stamp; const rclcpp::Time goal_stamp = goal_response->stamp;
bool cancel_this = ( bool cancel_this = (
request->goal_info.goal_id.uuid == goal_request->uuid || request->goal_info.goal_id.uuid == goal_request->action_goal_id.uuid ||
cancel_stamp > goal_stamp); cancel_stamp > goal_stamp);
if (cancel_all || cancel_this) { if (cancel_all || cancel_this) {
rclcpp_action::GoalStatus goal_status; rclcpp_action::GoalStatus goal_status;
goal_status.goal_info.goal_id.uuid = goal_request->uuid; goal_status.goal_info.goal_id.uuid = goal_request->action_goal_id.uuid;
goal_status.goal_info.stamp = goal_response->stamp; goal_status.goal_info.stamp = goal_response->stamp;
goal_status.status = rclcpp_action::GoalStatus::STATUS_CANCELED; goal_status.status = rclcpp_action::GoalStatus::STATUS_CANCELED;
status_message.status_list.push_back(goal_status); status_message.status_list.push_back(goal_status);

10
rclcpp_action/test/test_server.cpp
View file

@ -45,7 +45,7 @@ protected:
throw std::runtime_error("send goal service didn't become available"); throw std::runtime_error("send goal service didn't become available");
} }
auto request = std::make_shared<Fibonacci::GoalRequestService::Request>(); auto request = std::make_shared<Fibonacci::GoalRequestService::Request>();
request->uuid = uuid; request->action_goal_id.uuid = uuid;
auto future = client->async_send_request(request); auto future = client->async_send_request(request);
if (rclcpp::executor::FutureReturnCode::SUCCESS != if (rclcpp::executor::FutureReturnCode::SUCCESS !=
rclcpp::spin_until_future_complete(node, future)) rclcpp::spin_until_future_complete(node, future))
@ -122,7 +122,7 @@ TEST_F(TestServer, handle_goal_called)
auto request = std::make_shared<Fibonacci::GoalRequestService::Request>(); auto request = std::make_shared<Fibonacci::GoalRequestService::Request>();
const GoalID uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}}; const GoalID uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};
request->uuid = uuid; request->action_goal_id.uuid = uuid;
auto future = client->async_send_request(request); auto future = client->async_send_request(request);
ASSERT_EQ( ASSERT_EQ(
@ -545,7 +545,7 @@ TEST_F(TestServer, publish_feedback)
ASSERT_EQ(1u, received_msgs.size()); ASSERT_EQ(1u, received_msgs.size());
auto & msg = received_msgs.back(); auto & msg = received_msgs.back();
ASSERT_EQ(sent_message->sequence, msg->sequence); ASSERT_EQ(sent_message->sequence, msg->sequence);
ASSERT_EQ(uuid, msg->uuid); ASSERT_EQ(uuid, msg->action_goal_id.uuid);
} }
TEST_F(TestServer, get_result) TEST_F(TestServer, get_result)
@ -587,7 +587,7 @@ TEST_F(TestServer, get_result)
throw std::runtime_error("get result service didn't become available"); throw std::runtime_error("get result service didn't become available");
} }
auto request = std::make_shared<Fibonacci::GoalResultService::Request>(); auto request = std::make_shared<Fibonacci::GoalResultService::Request>();
request->uuid = uuid; request->action_goal_id.uuid = uuid;
auto future = result_client->async_send_request(request); auto future = result_client->async_send_request(request);
// Send a result // Send a result
@ -600,7 +600,7 @@ TEST_F(TestServer, get_result)
rclcpp::spin_until_future_complete(node, future)); rclcpp::spin_until_future_complete(node, future));
auto response = future.get(); auto response = future.get();
EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status); EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->action_status);
EXPECT_EQ(result->sequence, response->sequence); EXPECT_EQ(result->sequence, response->sequence);
} }