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Rename action state transitions (#300)
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* Rename action state transitions

Now using active verbs as described in the design doc:

http://design.ros2.org/articles/actions.html#goal-states

Connects to ros2/rcl#399.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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@jacobperron
jacobperron authored Apr 16, 2019
1 parent cad09bc commit 4802211
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Showing 3 changed files with 57 additions and 57 deletions.
24 changes: 12 additions & 12 deletions rclpy/rclpy/action/server.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -45,10 +45,10 @@ class GoalEvent(Enum):
"""Goal events that cause state transitions."""

EXECUTE = 1
CANCEL = 2
SET_SUCCEEDED = 3
SET_ABORTED = 4
SET_CANCELED = 5
CANCEL_GOAL = 2
SUCCEED = 3
ABORT = 4
CANCELED = 5


class ServerGoalHandle:
Expand Down Expand Up @@ -149,14 +149,14 @@ def publish_feedback(self, feedback):
_rclpy_action.rclpy_action_publish_feedback(
self._action_server._handle, feedback_message)

def set_succeeded(self):
self._update_state(GoalEvent.SET_SUCCEEDED)
def succeed(self):
self._update_state(GoalEvent.SUCCEED)

def set_aborted(self):
self._update_state(GoalEvent.SET_ABORTED)
def abort(self):
self._update_state(GoalEvent.ABORT)

def set_canceled(self):
self._update_state(GoalEvent.SET_CANCELED)
def canceled(self):
self._update_state(GoalEvent.CANCELED)

def destroy(self):
with self._lock:
Expand Down Expand Up @@ -330,7 +330,7 @@ async def _execute_goal(self, execute_callback, goal_handle):
if goal_handle.is_active:
self._node.get_logger().warning(
'Goal state not set, assuming aborted. Goal ID: {0}'.format(goal_uuid))
goal_handle.set_aborted()
goal_handle.abort()

self._node.get_logger().debug(
'Goal with ID {0} finished with state {1}'.format(goal_uuid, goal_handle.status))
Expand Down Expand Up @@ -363,7 +363,7 @@ async def _execute_cancel_request(self, request_header_and_message):

if CancelResponse.ACCEPT == response:
# Notify goal handle
goal_handle._update_state(GoalEvent.CANCEL)
goal_handle._update_state(GoalEvent.CANCEL_GOAL)
else:
# Remove from response
cancel_response.goals_canceling.remove(goal_info)
Expand Down
72 changes: 36 additions & 36 deletions rclpy/src/rclpy/_rclpy_action.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1349,33 +1349,33 @@ convert_from_py_goal_event(const int64_t pyevent)
}
to_decref[num_to_decref++] = pyexecute;

PyObject * pycancel = PyObject_GetAttrString(pygoal_event_class, "CANCEL");
if (!pycancel) {
PyObject * pycancel_goal = PyObject_GetAttrString(pygoal_event_class, "CANCEL_GOAL");
if (!pycancel_goal) {
MULTI_DECREF(to_decref, num_to_decref)
return -1;
}
to_decref[num_to_decref++] = pycancel;
to_decref[num_to_decref++] = pycancel_goal;

PyObject * pyset_succeeded = PyObject_GetAttrString(pygoal_event_class, "SET_SUCCEEDED");
if (!pyset_succeeded) {
PyObject * pysucceed = PyObject_GetAttrString(pygoal_event_class, "SUCCEED");
if (!pysucceed) {
MULTI_DECREF(to_decref, num_to_decref);
return -1;
}
to_decref[num_to_decref++] = pyset_succeeded;
to_decref[num_to_decref++] = pysucceed;

PyObject * pyset_aborted = PyObject_GetAttrString(pygoal_event_class, "SET_ABORTED");
if (!pyset_aborted) {
PyObject * pyabort = PyObject_GetAttrString(pygoal_event_class, "ABORT");
if (!pyabort) {
MULTI_DECREF(to_decref, num_to_decref)
return -1;
}
to_decref[num_to_decref++] = pyset_aborted;
to_decref[num_to_decref++] = pyabort;

PyObject * pyset_canceled = PyObject_GetAttrString(pygoal_event_class, "SET_CANCELED");
if (!pyset_canceled) {
PyObject * pycanceled = PyObject_GetAttrString(pygoal_event_class, "CANCELED");
if (!pycanceled) {
MULTI_DECREF(to_decref, num_to_decref)
return -1;
}
to_decref[num_to_decref++] = pyset_canceled;
to_decref[num_to_decref++] = pycanceled;

PyObject * pyexecute_val = PyObject_GetAttrString(pyexecute, "value");
if (!pyexecute_val) {
Expand All @@ -1384,55 +1384,55 @@ convert_from_py_goal_event(const int64_t pyevent)
}
to_decref[num_to_decref++] = pyexecute_val;

PyObject * pycancel_val = PyObject_GetAttrString(pycancel, "value");
if (!pycancel_val) {
PyObject * pycancel_goal_val = PyObject_GetAttrString(pycancel_goal, "value");
if (!pycancel_goal_val) {
MULTI_DECREF(to_decref, num_to_decref);
return -1;
}
to_decref[num_to_decref++] = pycancel_val;
to_decref[num_to_decref++] = pycancel_goal_val;

PyObject * pyset_succeeded_val = PyObject_GetAttrString(pyset_succeeded, "value");
if (!pyset_succeeded_val) {
PyObject * pysucceed_val = PyObject_GetAttrString(pysucceed, "value");
if (!pysucceed_val) {
MULTI_DECREF(to_decref, num_to_decref);
return -1;
}
to_decref[num_to_decref++] = pyset_succeeded_val;
to_decref[num_to_decref++] = pysucceed_val;

PyObject * pyset_aborted_val = PyObject_GetAttrString(pyset_aborted, "value");
if (!pyset_aborted_val) {
PyObject * pyabort_val = PyObject_GetAttrString(pyabort, "value");
if (!pyabort_val) {
MULTI_DECREF(to_decref, num_to_decref);
return -1;
}
to_decref[num_to_decref++] = pyset_aborted_val;
to_decref[num_to_decref++] = pyabort_val;

PyObject * pyset_canceled_val = PyObject_GetAttrString(pyset_canceled, "value");
if (!pyset_canceled_val) {
PyObject * pycanceled_val = PyObject_GetAttrString(pycanceled, "value");
if (!pycanceled_val) {
MULTI_DECREF(to_decref, num_to_decref);
return -1;
}
to_decref[num_to_decref++] = pyset_canceled_val;
to_decref[num_to_decref++] = pycanceled_val;

const int64_t execute = PyLong_AsLong(pyexecute_val);
const int64_t cancel = PyLong_AsLong(pycancel_val);
const int64_t set_succeeded = PyLong_AsLong(pyset_succeeded_val);
const int64_t set_aborted = PyLong_AsLong(pyset_aborted_val);
const int64_t set_canceled = PyLong_AsLong(pyset_canceled_val);
const int64_t cancel_goal = PyLong_AsLong(pycancel_goal_val);
const int64_t succeed = PyLong_AsLong(pysucceed_val);
const int64_t abort = PyLong_AsLong(pyabort_val);
const int64_t canceled = PyLong_AsLong(pycanceled_val);
MULTI_DECREF(to_decref, num_to_decref)

if (execute == pyevent) {
return GOAL_EVENT_EXECUTE;
}
if (cancel == pyevent) {
return GOAL_EVENT_CANCEL;
if (cancel_goal == pyevent) {
return GOAL_EVENT_CANCEL_GOAL;
}
if (set_succeeded == pyevent) {
return GOAL_EVENT_SET_SUCCEEDED;
if (succeed == pyevent) {
return GOAL_EVENT_SUCCEED;
}
if (set_aborted == pyevent) {
return GOAL_EVENT_SET_ABORTED;
if (abort == pyevent) {
return GOAL_EVENT_ABORT;
}
if (set_canceled == pyevent) {
return GOAL_EVENT_SET_CANCELED;
if (canceled == pyevent) {
return GOAL_EVENT_CANCELED;
}

PyErr_Format(
Expand Down
18 changes: 9 additions & 9 deletions rclpy/test/action/test_server.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ def timed_spin(self, duration):
rclpy.spin_once(self.node, executor=self.executor, timeout_sec=0.1)

def execute_goal_callback(self, goal_handle):
goal_handle.set_succeeded()
goal_handle.succeed()
return Fibonacci.Result()

def test_constructor_defaults(self):
Expand Down Expand Up @@ -280,7 +280,7 @@ def execute_callback(goal_handle):
# Wait, to give the opportunity to cancel
time.sleep(3.0)
self.assertTrue(goal_handle.is_cancel_requested)
goal_handle.set_canceled()
goal_handle.canceled()
return Fibonacci.Result()

def cancel_callback(request):
Expand Down Expand Up @@ -326,7 +326,7 @@ def execute_callback(goal_handle):
# Wait, to give the opportunity to cancel
time.sleep(3.0)
self.assertFalse(goal_handle.is_cancel_requested)
goal_handle.set_canceled()
goal_handle.canceled()
return Fibonacci.Result()

def cancel_callback(request):
Expand Down Expand Up @@ -378,7 +378,7 @@ def cancel_callback(request):
def execute_callback(gh):
# The goal should already be in state CANCELING
self.assertTrue(gh.is_cancel_requested)
gh.set_canceled()
gh.canceled()
return Fibonacci.Result()

action_server = ActionServer(
Expand Down Expand Up @@ -424,13 +424,13 @@ def execute_callback(gh):
self.assertEqual(server_goal_handle.status, GoalStatus.STATUS_CANCELED)
action_server.destroy()

def test_execute_set_succeeded(self):
def test_execute_succeed(self):

def execute_callback(goal_handle):
self.assertEqual(goal_handle.status, GoalStatus.STATUS_EXECUTING)
result = Fibonacci.Result()
result.sequence.extend([1, 1, 2, 3, 5])
goal_handle.set_succeeded()
goal_handle.succeed()
return result

action_server = ActionServer(
Expand All @@ -455,13 +455,13 @@ def execute_callback(goal_handle):
self.assertEqual(result_response.result.sequence.tolist(), [1, 1, 2, 3, 5])
action_server.destroy()

def test_execute_set_aborted(self):
def test_execute_abort(self):

def execute_callback(goal_handle):
self.assertEqual(goal_handle.status, GoalStatus.STATUS_EXECUTING)
result = Fibonacci.Result()
result.sequence.extend([1, 1, 2, 3, 5])
goal_handle.set_aborted()
goal_handle.abort()
return result

action_server = ActionServer(
Expand Down Expand Up @@ -596,7 +596,7 @@ def execute_with_feedback(goal_handle):
feedback = Fibonacci.Feedback()
feedback.sequence = [1, 1, 2, 3]
goal_handle.publish_feedback(feedback)
goal_handle.set_succeeded()
goal_handle.succeed()
return Fibonacci.Result()

action_server = ActionServer(
Expand Down

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