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Refactor goal state machine implementation and add unit tests (#311)
* Fix buggy if-conditions in transition functions. * Bugfix: incease number of states by one * Cleanup CMakeLists.txt and package.xml * Move goal state machine implementation details from header to C file
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,111 @@ | ||
| // Copyright 2018 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| #include "rcl_action/goal_state_machine.h" | ||
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| typedef rcl_action_goal_state_t | ||
| (* rcl_action_goal_event_handler)(rcl_action_goal_state_t, rcl_action_goal_event_t); | ||
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| // Transition event handlers | ||
| rcl_action_goal_state_t | ||
| _execute_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event) | ||
| { | ||
| if (GOAL_STATE_ACCEPTED != state || GOAL_EVENT_EXECUTE != event) { | ||
| return GOAL_STATE_UNKNOWN; | ||
| } | ||
| return GOAL_STATE_EXECUTING; | ||
| } | ||
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| rcl_action_goal_state_t | ||
| _cancel_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event) | ||
| { | ||
| if ((GOAL_STATE_ACCEPTED != state && GOAL_STATE_EXECUTING != state) || | ||
| GOAL_EVENT_CANCEL != event) | ||
| { | ||
| return GOAL_STATE_UNKNOWN; | ||
| } | ||
| return GOAL_STATE_CANCELING; | ||
| } | ||
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| rcl_action_goal_state_t | ||
| _set_succeeded_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event) | ||
| { | ||
| if ((GOAL_STATE_EXECUTING != state && GOAL_STATE_CANCELING != state) || | ||
| GOAL_EVENT_SET_SUCCEEDED != event) | ||
| { | ||
| return GOAL_STATE_UNKNOWN; | ||
| } | ||
| return GOAL_STATE_SUCCEEDED; | ||
| } | ||
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| rcl_action_goal_state_t | ||
| _set_aborted_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event) | ||
| { | ||
| if ((GOAL_STATE_EXECUTING != state && GOAL_STATE_CANCELING != state) || | ||
| GOAL_EVENT_SET_ABORTED != event) | ||
| { | ||
| return GOAL_STATE_UNKNOWN; | ||
| } | ||
| return GOAL_STATE_ABORTED; | ||
| } | ||
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| rcl_action_goal_state_t | ||
| _set_canceled_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event) | ||
| { | ||
| if (GOAL_STATE_CANCELING != state || GOAL_EVENT_SET_CANCELED != event) { | ||
| return GOAL_STATE_UNKNOWN; | ||
| } | ||
| return GOAL_STATE_CANCELED; | ||
| } | ||
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| // Transition map | ||
| static rcl_action_goal_event_handler | ||
| _goal_state_transition_map[GOAL_STATE_NUM_STATES][GOAL_EVENT_NUM_EVENTS] = { | ||
| [GOAL_STATE_ACCEPTED] = { | ||
| [GOAL_EVENT_EXECUTE] = _execute_event_handler, | ||
| [GOAL_EVENT_CANCEL] = _cancel_event_handler, | ||
| }, | ||
| [GOAL_STATE_EXECUTING] = { | ||
| [GOAL_EVENT_CANCEL] = _cancel_event_handler, | ||
| [GOAL_EVENT_SET_SUCCEEDED] = _set_succeeded_event_handler, | ||
| [GOAL_EVENT_SET_ABORTED] = _set_aborted_event_handler, | ||
| }, | ||
| [GOAL_STATE_CANCELING] = { | ||
| [GOAL_EVENT_SET_SUCCEEDED] = _set_succeeded_event_handler, | ||
| [GOAL_EVENT_SET_ABORTED] = _set_aborted_event_handler, | ||
| [GOAL_EVENT_SET_CANCELED] = _set_canceled_event_handler, | ||
| }, | ||
| }; | ||
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| rcl_action_goal_state_t | ||
| rcl_action_transition_goal_state( | ||
| const rcl_action_goal_state_t state, | ||
| const rcl_action_goal_event_t event) | ||
| { | ||
| rcl_action_goal_event_handler handler = _goal_state_transition_map[state][event]; | ||
| if (NULL == handler) { | ||
| return GOAL_STATE_UNKNOWN; | ||
| } | ||
| return handler(state, event); | ||
| } | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif |
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