Code

Action server implementation#323

Code

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jacobperron merged 39 commits intomasterros2/rcl:masterfrom jacob/action_serverros2/rcl:jacob/action_serverCopy head branch name to clipboardNov 20, 2018

+1,879-94

Commits

Commits on Nov 16, 2018

• [rcl_action] Add action server boilerplate

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

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• Add macros for initializing services and publishers

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• Initialize typesupport in test

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• Finish action server init/fini implementation

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• Implement rcl_action_server_get_default_options()

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• Implement rcl_action_accept_new_goal()

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• Implement rcl_action_server_get_options()

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• Implement rcl_action_server_get_action_name()

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• Implement rcl_action_get_goal_status_array()

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• Remove print statements and quelch unused return warning

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• Fix typo

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• Fix type comparison warning

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• Fix warnings

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• Bugfix: reset pointers and size in type finalize functions

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• Remove subfolder argument from action type supoport macro

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• Implement send/take functions for action server services

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• Add explicit cast

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• Implement action server publishers for feedback and status

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• Implement rcl_action_process_cancel_request()

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• Remove unnecessary check and clarify comment

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• Add test for initializing action server with same name

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• Address review

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• Use type-erased pointer for rcl_action_publish_status()

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• Implement rcl_action_clear_expired_goals()

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• Finish rcl_action_clear_expired_goals() implementation

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• Do heap allocation of temporary array to satisfy MSVC compiler

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

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• Update documentation

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• Update package.xml

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• Address review

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• Pass in rcl_clock_t to action server

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• Remove commented test

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• Update default options getter

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• Replace assertions with error return codes

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• Initialize output variables in tests to known invalid values

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• Do not finalize goal handles in expire function

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• Fix incorrect allocation size + minro refactor

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Commits on Nov 17, 2018

• Add tests for invalid action names and fix bug

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