Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Action server implementation #323

Merged
merged 39 commits into from
Nov 20, 2018
Merged

Action server implementation #323

merged 39 commits into from
Nov 20, 2018

Commits on Nov 16, 2018

  1. [rcl_action] Add action server boilerplate

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    69d88a4 View commit details
    Browse the repository at this point in the history

  2. [wip] Implement action server init, fini, and is_valid functions

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    7a26a61 View commit details
    Browse the repository at this point in the history

  3. Add macros for initializing services and publishers

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    9bf16df View commit details
    Browse the repository at this point in the history

  4. Initialize typesupport in test

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    54ffb59 View commit details
    Browse the repository at this point in the history

  5. Finish action server init/fini implementation

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    f638f78 View commit details
    Browse the repository at this point in the history

  6. Implement rcl_action_server_get_default_options()

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    c5b4ebb View commit details
    Browse the repository at this point in the history

  7. Implement rcl_action_accept_new_goal() 

    * Add function, rcl_action_server_goal_exists(), for checking if goal is already being tracked by an action server
* Add unit tests
* Implement rcl_action_server_get_goal_handles()
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    d221b74 View commit details
    Browse the repository at this point in the history

  8. Implement rcl_action_server_get_options()

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    be6ce14 View commit details
    Browse the repository at this point in the history

  9. Implement rcl_action_server_get_action_name()

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    c84eba3 View commit details
    Browse the repository at this point in the history

  10. Implement rcl_action_get_goal_status_array() 

    Update action server API to use size_t type instead of uint32_t.
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    c751648 View commit details
    Browse the repository at this point in the history

  11. Remove print statements and quelch unused return warning

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    b0dc950 View commit details
    Browse the repository at this point in the history

  12. Fix typo

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    bf26092 View commit details
    Browse the repository at this point in the history

  13. Fix type comparison warning

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    cd6ab11 View commit details
    Browse the repository at this point in the history

  14. Fix warnings

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    476b677 View commit details
    Browse the repository at this point in the history

  15. Bugfix: reset pointers and size in type finalize functions 

    Also let finalize functions be called on already finalized objects
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    3caa6e7 View commit details
    Browse the repository at this point in the history

  16. Remove subfolder argument from action type supoport macro

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    8c13a5f View commit details
    Browse the repository at this point in the history

  17. Implement send/take functions for action server services

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    d4f085d View commit details
    Browse the repository at this point in the history

  18. Add explicit cast

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    93c2120 View commit details
    Browse the repository at this point in the history

  19. Implement action server publishers for feedback and status

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    db818d8 View commit details
    Browse the repository at this point in the history

  20. Implement rcl_action_process_cancel_request()

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    cd93ed2 View commit details
    Browse the repository at this point in the history

  21. Remove unnecessary check and clarify comment

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    f53f77a View commit details
    Browse the repository at this point in the history

  22. Add test for initializing action server with same name 

    Currently, this test is failing.
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    45ea2b9 View commit details
    Browse the repository at this point in the history

  23. Address review 

    * Move communcation tests to separate file
* Define UUID_SIZE
* Remove const for action server in rcl_action_accept_new_goal()
* Make private function static
* Add missing override specifiers
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    5bb55ef View commit details
    Browse the repository at this point in the history

  24. Use type-erased pointer for rcl_action_publish_status()

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    260d93f View commit details
    Browse the repository at this point in the history

  25. Implement rcl_action_clear_expired_goals() 

    Introduce rcl_clock_t to action server implementation.
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    f658280 View commit details
    Browse the repository at this point in the history

  26. Finish rcl_action_clear_expired_goals() implementation 

    * Change internal goal handle array to be an array of pointers.
* Add check for invalid action names
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    ef03884 View commit details
    Browse the repository at this point in the history

  27. Do heap allocation of temporary array to satisfy MSVC compiler

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    2c938cb View commit details
    Browse the repository at this point in the history

  28. Bugfix: finalize node in test tear downs and reset expected errors

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    6bfa497 View commit details
    Browse the repository at this point in the history

  29. Update documentation

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    22d3ace View commit details
    Browse the repository at this point in the history

  30. Update package.xml

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    5488680 View commit details
    Browse the repository at this point in the history

  31. Address review

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    906c6ce View commit details
    Browse the repository at this point in the history

  32. Pass in rcl_clock_t to action server 

    Rather than initializing internally.
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    df742be View commit details
    Browse the repository at this point in the history

  33. Remove commented test 

    The test is not checking expected behavior
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    02b9c28 View commit details
    Browse the repository at this point in the history

  34. Update default options getter

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    18fc054 View commit details
    Browse the repository at this point in the history

  35. Replace assertions with error return codes

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    2c734fe View commit details
    Browse the repository at this point in the history

  36. Initialize output variables in tests to known invalid values

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    7028e3f View commit details
    Browse the repository at this point in the history

  37. Do not finalize goal handles in expire function 

    Instead, leave it up to the caller to finalize goal handles.
Renamed the function to rcl_action_expire_goals.
    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    1140112 View commit details
    Browse the repository at this point in the history

  38. Fix incorrect allocation size + minro refactor

    @jacobperron
    jacobperron committed Nov 16, 2018
    Configuration menu
    Copy the full SHA
    7aadb55 View commit details
    Browse the repository at this point in the history

Commits on Nov 17, 2018

  1. Add tests for invalid action names and fix bug 

    Bugfix: Ensure options (containing allocator) are copied before a finalize occurs (e.g. goto fail).
    @jacobperron
    jacobperron committed Nov 17, 2018
    Configuration menu
    Copy the full SHA
    aba8f86 View commit details
    Browse the repository at this point in the history