From e8dd2bf9ab795424eb142e767af3d51d664835c5 Mon Sep 17 00:00:00 2001 From: aeon Date: Fri, 23 Jun 2023 10:45:11 +0800 Subject: [PATCH] Run rustfmt --- r2r/src/action_clients.rs | 22 ++++++++++++++++++---- r2r/src/action_clients_untyped.rs | 22 ++++++++++++++++++---- r2r/src/action_common.rs | 28 +++++++++++++++++++++------- r2r/src/action_servers.rs | 17 ++++++++++++----- r2r/src/lib.rs | 8 ++++++-- r2r/src/msg_types.rs | 2 -- r2r/src/publishers.rs | 6 ++---- 7 files changed, 77 insertions(+), 28 deletions(-) diff --git a/r2r/src/action_clients.rs b/r2r/src/action_clients.rs index 49479c6..cfa4fe1 100644 --- a/r2r/src/action_clients.rs +++ b/r2r/src/action_clients.rs @@ -250,10 +250,24 @@ where .map_err(|_| Error::RCL_RET_CLIENT_INVALID) .map(|r| match r { Ok(r) => match r.return_code { - e if e == action_msgs::srv::CancelGoal::Response::ERROR_NONE as i8 => Ok(()), - e if e == action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8 => Err(Error::GoalCancelRejected), - e if e == action_msgs::srv::CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID as i8 => Err(Error::GoalCancelUnknownGoalID), - e if e == action_msgs::srv::CancelGoal::Response::ERROR_GOAL_TERMINATED as i8 => Err(Error::GoalCancelAlreadyTerminated), + e if e == action_msgs::srv::CancelGoal::Response::ERROR_NONE as i8 => { + Ok(()) + } + e if e == action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8 => { + Err(Error::GoalCancelRejected) + } + e if e + == action_msgs::srv::CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID + as i8 => + { + Err(Error::GoalCancelUnknownGoalID) + } + e if e + == action_msgs::srv::CancelGoal::Response::ERROR_GOAL_TERMINATED + as i8 => + { + Err(Error::GoalCancelAlreadyTerminated) + } x => panic!("unknown error code return from action server: {}", x), }, Err(e) => Err(e), diff --git a/r2r/src/action_clients_untyped.rs b/r2r/src/action_clients_untyped.rs index 3239f46..56f7557 100644 --- a/r2r/src/action_clients_untyped.rs +++ b/r2r/src/action_clients_untyped.rs @@ -217,10 +217,24 @@ impl WrappedActionClientUntyped { .map_err(|_| Error::RCL_RET_CLIENT_INVALID) .map(|r| match r { Ok(r) => match r.return_code { - e if e == action_msgs::srv::CancelGoal::Response::ERROR_NONE as i8 => Ok(()), - e if e == action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8 => Err(Error::GoalCancelRejected), - e if e == action_msgs::srv::CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID as i8 => Err(Error::GoalCancelUnknownGoalID), - e if e == action_msgs::srv::CancelGoal::Response::ERROR_GOAL_TERMINATED as i8 => Err(Error::GoalCancelAlreadyTerminated), + e if e == action_msgs::srv::CancelGoal::Response::ERROR_NONE as i8 => { + Ok(()) + } + e if e == action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8 => { + Err(Error::GoalCancelRejected) + } + e if e + == action_msgs::srv::CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID + as i8 => + { + Err(Error::GoalCancelUnknownGoalID) + } + e if e + == action_msgs::srv::CancelGoal::Response::ERROR_GOAL_TERMINATED + as i8 => + { + Err(Error::GoalCancelAlreadyTerminated) + } x => panic!("unknown error code return from action server: {}", x), }, Err(e) => Err(e), diff --git a/r2r/src/action_common.rs b/r2r/src/action_common.rs index af90110..976fb94 100644 --- a/r2r/src/action_common.rs +++ b/r2r/src/action_common.rs @@ -26,13 +26,27 @@ impl GoalStatus { pub fn from_rcl(s: i8) -> Self { match s { - s if s == crate::action_msgs::msg::GoalStatus::STATUS_UNKNOWN as i8 => GoalStatus::Unknown, - s if s == crate::action_msgs::msg::GoalStatus::STATUS_ACCEPTED as i8 => GoalStatus::Accepted, - s if s == crate::action_msgs::msg::GoalStatus::STATUS_EXECUTING as i8 => GoalStatus::Executing, - s if s == crate::action_msgs::msg::GoalStatus::STATUS_CANCELING as i8 => GoalStatus::Canceling, - s if s == crate::action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8 => GoalStatus::Succeeded, - s if s == crate::action_msgs::msg::GoalStatus::STATUS_CANCELED as i8 => GoalStatus::Canceled, - s if s == crate::action_msgs::msg::GoalStatus::STATUS_ABORTED as i8 => GoalStatus::Aborted, + s if s == crate::action_msgs::msg::GoalStatus::STATUS_UNKNOWN as i8 => { + GoalStatus::Unknown + } + s if s == crate::action_msgs::msg::GoalStatus::STATUS_ACCEPTED as i8 => { + GoalStatus::Accepted + } + s if s == crate::action_msgs::msg::GoalStatus::STATUS_EXECUTING as i8 => { + GoalStatus::Executing + } + s if s == crate::action_msgs::msg::GoalStatus::STATUS_CANCELING as i8 => { + GoalStatus::Canceling + } + s if s == crate::action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8 => { + GoalStatus::Succeeded + } + s if s == crate::action_msgs::msg::GoalStatus::STATUS_CANCELED as i8 => { + GoalStatus::Canceled + } + s if s == crate::action_msgs::msg::GoalStatus::STATUS_ABORTED as i8 => { + GoalStatus::Aborted + } _ => panic!("unknown action status: {}", s), } } diff --git a/r2r/src/action_servers.rs b/r2r/src/action_servers.rs index 80d2f7d..e5dab13 100644 --- a/r2r/src/action_servers.rs +++ b/r2r/src/action_servers.rs @@ -294,7 +294,8 @@ where // check if all cancels were rejected. if requested_cancels >= 1 && response_msg.goals_canceling.is_empty() { - response_msg.return_code = action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8; + response_msg.return_code = + action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8; } responses.push((*request_id, response_msg)); @@ -533,7 +534,10 @@ where let response_msg = if !goal_exists { // Goal does not exists - let msg = T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_UNKNOWN as i8, T::Result::default()); + let msg = T::make_result_response_msg( + action_msgs::msg::GoalStatus::STATUS_UNKNOWN as i8, + T::Result::default(), + ); let mut response_msg = WrappedNativeMsg::< <::GetResult as WrappedServiceTypeSupport>::Response, >::from(&msg); @@ -664,7 +668,8 @@ where action_server.publish_status(); // create result message - let result_msg = T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_CANCELED as i8, msg); + let result_msg = + T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_CANCELED as i8, msg); let native_msg = WrappedNativeMsg::< <::GetResult as WrappedServiceTypeSupport>::Response, >::from(&result_msg); @@ -684,7 +689,8 @@ where action_server.set_goal_state(&self.uuid, rcl_action_goal_event_t::GOAL_EVENT_ABORT)?; // create result message - let result_msg = T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_ABORTED as i8, msg); + let result_msg = + T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_ABORTED as i8, msg); let native_msg = WrappedNativeMsg::< <::GetResult as WrappedServiceTypeSupport>::Response, >::from(&result_msg); @@ -707,7 +713,8 @@ where action_server.set_goal_state(&self.uuid, rcl_action_goal_event_t::GOAL_EVENT_SUCCEED)?; // create result message - let result_msg = T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8, msg); + let result_msg = + T::make_result_response_msg(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8, msg); let native_msg = WrappedNativeMsg::< <::GetResult as WrappedServiceTypeSupport>::Response, >::from(&result_msg); diff --git a/r2r/src/lib.rs b/r2r/src/lib.rs index 0c63a2b..d23289f 100644 --- a/r2r/src/lib.rs +++ b/r2r/src/lib.rs @@ -132,6 +132,10 @@ pub const ROS_DISTRO: &str = "galactic"; pub const ROS_DISTRO: &str = "humble"; #[cfg(r2r__ros__distro__rolling)] pub const ROS_DISTRO: &str = "rolling"; -#[cfg(not(any(r2r__ros__distro__foxy, r2r__ros__distro__galactic, - r2r__ros__distro__humble, r2r__ros__distro__rolling)))] +#[cfg(not(any( + r2r__ros__distro__foxy, + r2r__ros__distro__galactic, + r2r__ros__distro__humble, + r2r__ros__distro__rolling +)))] pub const ROS_DISTRO: &str = "unknown"; diff --git a/r2r/src/msg_types.rs b/r2r/src/msg_types.rs index ad582db..cec06d2 100644 --- a/r2r/src/msg_types.rs +++ b/r2r/src/msg_types.rs @@ -771,7 +771,6 @@ mod tests { assert!(!json_request.to_string().is_empty()); } - #[cfg(r2r__action_msgs__msg__GoalStatus)] #[test] fn test_msg_constants() { @@ -795,6 +794,5 @@ mod tests { assert_eq!(1, CancelGoal::Response::ERROR_REJECTED as i8); assert_eq!(2, CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID as i8); assert_eq!(3, CancelGoal::Response::ERROR_GOAL_TERMINATED as i8); - } } diff --git a/r2r/src/publishers.rs b/r2r/src/publishers.rs index a860e21..98c6dc9 100644 --- a/r2r/src/publishers.rs +++ b/r2r/src/publishers.rs @@ -2,8 +2,8 @@ use std::ffi::c_void; use std::ffi::CString; use std::fmt::Debug; use std::marker::PhantomData; -use std::sync::Weak; use std::sync::Once; +use std::sync::Weak; use crate::error::*; use crate::msg_types::*; @@ -181,9 +181,8 @@ where rcl_borrow_loaned_message(publisher.as_ref(), T::get_ts(), &mut loaned_msg) }; if ret != RCL_RET_OK as i32 { - // TODO: Switch to logging library log::error!("Failed getting loaned message"); - return Err(Error::from_rcl_error(ret)) + return Err(Error::from_rcl_error(ret)); } let handle_box = Box::new(*publisher.as_ref()); @@ -209,7 +208,6 @@ where } else { static LOG_LOANED_ERROR: Once = Once::new(); LOG_LOANED_ERROR.call_once(|| { - // TODO: Switch to logging library log::error!("Currently used middleware can't loan messages. Local allocator will be used."); });