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Add ActionServer #270

Merged
merged 18 commits into from
Feb 25, 2019
Merged

Add ActionServer #270

merged 18 commits into from
Feb 25, 2019

Commits on Feb 15, 2019

  1. Add ActionServer 

    * Add Action server functions to extension module
    * Separated service related macros into separate request and response calls
* Add server goal handle functions to extension module
* Update Action extension module to use conversion functions
* Add partial implementation of Python ActionServer
    * Handles goal and cancel requests, responds, and calls user-defined functions for executing goals.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  2. Handle result requests 

    And some linting.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  3. Handle expired goals 

    Pass an optional 'result_timeout' argument to the constructor specififying how long after a goal is completed to keep a reference to the result.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  4. Fix incorrect module name in _rclpy_action.c 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  5. Make thread safe and add tests involving concurrent goals 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  6. Make 'is_active' a property 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  7. Add test for feedback 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  8. lint 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  9. Publish goal status array and fix feedback publishing 

    The goal status array is published whenever a goal state is updated.
Published feedback messages should have the goal ID field populated, otherwise the message will be ignored at the rcl layer.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  10. Minor refactor in action unit tests 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  11. Add handle_accepted_callback to ActionServer 

    Upon accepting a goal, the provided `handle_accepted_callback` is called with a reference to the goal handle.
The user can then decide to execute the goal or defer.
If `handle_accepted_callback` is not provided, then the default behavior is to execute the goal handle immediately.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  12. Add test for execute callback that does not set the goal state 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  13. Reject goals processed by malformed goal callbacks 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  14. Resolve issues regarding deferring and canceling goals 

    * Goal should first transition to CANCELING before CANCELED
* Handle case where goal skips the EXECUTING state if deferred (accepted, but not executed) and then canceled

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  15. Address review 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Commits on Feb 20, 2019

  1. Avoid compiler warning from implicit cast 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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    jacobperron committed Feb 20, 2019
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Commits on Feb 21, 2019

  1. Use 'L' format for int64_t when calling PyArg_ParseTuple 

    This resolves test errors that were present in Windows builds.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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    jacobperron committed Feb 21, 2019
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Commits on Feb 22, 2019

  1. Remove debug leftovers 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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    jacobperron committed Feb 22, 2019
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