fe09d937b7
* Commiting to back up work, does not function * Can call user callback when goal request received * fini action server in destructor * rename user callback virtual functions * handle_execute test passes * Remove out of date comment * Refactor execute into three functions * Remove unused file * Add failing cancel test * Cancel test passes * Remove out of date comments * Make sure server publishes status when accepting a goal * Send status when goals transition to cancelling * Refactored sending goal request to its own function * Refactor cancel request into it's own function * Comment with remaining tests * Executing and terminal state statuses * publish feedback works * server sends result to clients that request it * Remove out of date comment * Add ServerGoalHandle::is_active() * Cleanup when goals expire * Can pass in action server options * cpplint and uncrustify fixes * Fix clang warnings * Copy rcl goal handle * Fix clang warning * Use intermediate value to avoid left shift on 32bit integer * RCLCPP_ACTION_PUBLIC everwhere * Change callback parameter from C type to C++ * Add accessors for request and uuid * Feedback must include goal id * Document Server<> and ServerBase<> * handle_execute -> handle_accepted * Test deferred execution * only publish feedback if goal is executing * Documentation for ServerGoalHandle * document msg parameters * remove unnecessary fini * notify_goal_done only takes server * Use unique_indentifier_msgs * create_server accepts group and removes waitable * uncrustify * Use weak ptr to avoid crash if goal handle lives longer than server * Handle goal callback const message * Goal handle doesn't have server pointer anymore * Lock goal_handles_ on Server<> * rcl_action_server_t protected with mutex * ServerBase results protected with mutex * protect rcl goal handle with mutex * is_cancel_request -> is_canceling * Add missing include * use GoalID and change uuid -> goal_id * Keep rcl goal handle alive until it expires on server * uncrustify * Move UUID hash * Log messages in server * ACTION -> ActionT * Cancel abandoned goal handles * Add convert() for C and C++ goal id * Remove unused variable * Constant reference * Move variable declaration down * is_ready if goal expired * map[] default constructs if it doesn't exist * Use rcl_action_get_goal_status_array() * Array -> GoalID * Use reentrant mutex for everything * comment * scope exit to fini cancel response * using GoalID
92 lines
2.1 KiB
CMake
92 lines
2.1 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rclcpp_action)
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find_package(ament_cmake_ros REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcl_action REQUIRED)
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find_package(rosidl_generator_cpp REQUIRED)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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include_directories(include)
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set(${PROJECT_NAME}_SRCS
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src/client.cpp
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src/server.cpp
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src/server_goal_handle.cpp
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src/types.cpp
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)
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add_library(${PROJECT_NAME}
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${${PROJECT_NAME}_SRCS})
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ament_target_dependencies(${PROJECT_NAME}
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"action_msgs"
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"rcl_action"
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"rclcpp"
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"rosidl_generator_c"
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"rosidl_generator_cpp")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE "RCLCPP_ACTION_BUILDING_LIBRARY")
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install(
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DIRECTORY include/
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DESTINATION include)
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install(
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TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# specific order: dependents before dependencies
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_dependencies(ament_cmake)
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ament_export_dependencies(action_msgs)
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(rcl_action)
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ament_export_dependencies(rosidl_generator_c)
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ament_export_dependencies(rosidl_generator_cpp)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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ament_add_gtest(test_client test/test_client.cpp)
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if(TARGET test_client)
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ament_target_dependencies(test_client
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"test_msgs"
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)
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target_link_libraries(test_client
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${PROJECT_NAME}
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)
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endif()
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ament_add_gtest(test_server test/test_server.cpp)
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if(TARGET test_server)
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ament_target_dependencies(test_server
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"test_msgs"
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)
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target_link_libraries(test_server
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${PROJECT_NAME}
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)
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endif()
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endif()
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ament_package()
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