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This commit is contained in:
aeon 2023-06-23 10:45:11 +08:00 committed by Martin Dahl
parent a042dc8c55
commit e8dd2bf9ab
7 changed files with 77 additions and 28 deletions
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22
r2r/src/action_clients.rs
View File

@ -250,10 +250,24 @@ where
.map_err(|_| Error::RCL_RET_CLIENT_INVALID) .map_err(|_| Error::RCL_RET_CLIENT_INVALID)
.map(|r| match r { .map(|r| match r {
Ok(r) => match r.return_code { 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_NONE as i8 => {
e if e == action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8 => Err(Error::GoalCancelRejected), Ok(())
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_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), x => panic!("unknown error code return from action server: {}", x),
}, },
Err(e) => Err(e), Err(e) => Err(e),

22
r2r/src/action_clients_untyped.rs
View File

@ -217,10 +217,24 @@ impl WrappedActionClientUntyped {
.map_err(|_| Error::RCL_RET_CLIENT_INVALID) .map_err(|_| Error::RCL_RET_CLIENT_INVALID)
.map(|r| match r { .map(|r| match r {
Ok(r) => match r.return_code { 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_NONE as i8 => {
e if e == action_msgs::srv::CancelGoal::Response::ERROR_REJECTED as i8 => Err(Error::GoalCancelRejected), Ok(())
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_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), x => panic!("unknown error code return from action server: {}", x),
}, },
Err(e) => Err(e), Err(e) => Err(e),

28
r2r/src/action_common.rs
View File

@ -26,13 +26,27 @@ impl GoalStatus {
pub fn from_rcl(s: i8) -> Self { pub fn from_rcl(s: i8) -> Self {
match s { 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_UNKNOWN as i8 => {
s if s == crate::action_msgs::msg::GoalStatus::STATUS_ACCEPTED as i8 => GoalStatus::Accepted, GoalStatus::Unknown
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_ACCEPTED as i8 => {
s if s == crate::action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8 => GoalStatus::Succeeded, GoalStatus::Accepted
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_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), _ => panic!("unknown action status: {}", s),
} }
} }

17
r2r/src/action_servers.rs
View File

@ -294,7 +294,8 @@ where
// check if all cancels were rejected. // check if all cancels were rejected.
if requested_cancels >= 1 && response_msg.goals_canceling.is_empty() { 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)); responses.push((*request_id, response_msg));
@ -533,7 +534,10 @@ where
let response_msg = if !goal_exists { let response_msg = if !goal_exists {
// Goal does not 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::< let mut response_msg = WrappedNativeMsg::<
<<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response, <<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response,
>::from(&msg); >::from(&msg);
@ -664,7 +668,8 @@ where
action_server.publish_status(); action_server.publish_status();
// create result message // 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::< let native_msg = WrappedNativeMsg::<
<<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response, <<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response,
>::from(&result_msg); >::from(&result_msg);
@ -684,7 +689,8 @@ where
action_server.set_goal_state(&self.uuid, rcl_action_goal_event_t::GOAL_EVENT_ABORT)?; action_server.set_goal_state(&self.uuid, rcl_action_goal_event_t::GOAL_EVENT_ABORT)?;
// create result message // 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::< let native_msg = WrappedNativeMsg::<
<<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response, <<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response,
>::from(&result_msg); >::from(&result_msg);
@ -707,7 +713,8 @@ where
action_server.set_goal_state(&self.uuid, rcl_action_goal_event_t::GOAL_EVENT_SUCCEED)?; action_server.set_goal_state(&self.uuid, rcl_action_goal_event_t::GOAL_EVENT_SUCCEED)?;
// create result message // 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::< let native_msg = WrappedNativeMsg::<
<<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response, <<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Response,
>::from(&result_msg); >::from(&result_msg);

8
r2r/src/lib.rs
View File

@ -132,6 +132,10 @@ pub const ROS_DISTRO: &str = "galactic";
pub const ROS_DISTRO: &str = "humble"; pub const ROS_DISTRO: &str = "humble";
#[cfg(r2r__ros__distro__rolling)] #[cfg(r2r__ros__distro__rolling)]
pub const ROS_DISTRO: &str = "rolling"; pub const ROS_DISTRO: &str = "rolling";
#[cfg(not(any(r2r__ros__distro__foxy, r2r__ros__distro__galactic, #[cfg(not(any(
r2r__ros__distro__humble, r2r__ros__distro__rolling)))] r2r__ros__distro__foxy,
r2r__ros__distro__galactic,
r2r__ros__distro__humble,
r2r__ros__distro__rolling
)))]
pub const ROS_DISTRO: &str = "unknown"; pub const ROS_DISTRO: &str = "unknown";

2
r2r/src/msg_types.rs
View File

@ -771,7 +771,6 @@ mod tests {
assert!(!json_request.to_string().is_empty()); assert!(!json_request.to_string().is_empty());
} }
#[cfg(r2r__action_msgs__msg__GoalStatus)] #[cfg(r2r__action_msgs__msg__GoalStatus)]
#[test] #[test]
fn test_msg_constants() { fn test_msg_constants() {
@ -795,6 +794,5 @@ mod tests {
assert_eq!(1, CancelGoal::Response::ERROR_REJECTED as i8); assert_eq!(1, CancelGoal::Response::ERROR_REJECTED as i8);
assert_eq!(2, CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID as i8); assert_eq!(2, CancelGoal::Response::ERROR_UNKNOWN_GOAL_ID as i8);
assert_eq!(3, CancelGoal::Response::ERROR_GOAL_TERMINATED as i8); assert_eq!(3, CancelGoal::Response::ERROR_GOAL_TERMINATED as i8);
} }
} }

6
r2r/src/publishers.rs
View File

@ -2,8 +2,8 @@ use std::ffi::c_void;
use std::ffi::CString; use std::ffi::CString;
use std::fmt::Debug; use std::fmt::Debug;
use std::marker::PhantomData; use std::marker::PhantomData;
use std::sync::Weak;
use std::sync::Once; use std::sync::Once;
use std::sync::Weak;
use crate::error::*; use crate::error::*;
use crate::msg_types::*; use crate::msg_types::*;
@ -181,9 +181,8 @@ where
rcl_borrow_loaned_message(publisher.as_ref(), T::get_ts(), &mut loaned_msg) rcl_borrow_loaned_message(publisher.as_ref(), T::get_ts(), &mut loaned_msg)
}; };
if ret != RCL_RET_OK as i32 { if ret != RCL_RET_OK as i32 {
// TODO: Switch to logging library
log::error!("Failed getting loaned message"); 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()); let handle_box = Box::new(*publisher.as_ref());
@ -209,7 +208,6 @@ where
} else { } else {
static LOG_LOANED_ERROR: Once = Once::new(); static LOG_LOANED_ERROR: Once = Once::new();
LOG_LOANED_ERROR.call_once(|| { LOG_LOANED_ERROR.call_once(|| {
// TODO: Switch to logging library
log::error!("Currently used middleware can't loan messages. Local allocator will be used."); log::error!("Currently used middleware can't loan messages. Local allocator will be used.");
}); });