* Add new interfaces to enable intropsection for action
Signed-off-by: Barry Xu <barry.xu@sony.com>
* Correct some comments
Signed-off-by: Barry Xu <barry.xu@sony.com>
---------
Signed-off-by: Barry Xu <barry.xu@sony.com>
* fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks
This prevents deadlocks in cases, were e.g. get_status() would
be called on the handle in a callback of the handle.
* test(rclcpp_action): Added test for deadlocks during access of a goal handle
This test checks, if the code deadlocks, if methods on the goal handle are
called from the callbacks.
Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
* Use rclcpp::GuardCondition
Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
* Pass GuardCondition ptr instead of ref to remove_guard_condition
Before the api was taking a reference to a guard condition,
then getting the address of it. But if a node had expired,
we can't get the orig gc dereferencing a pointer,
nor can we get an address of an out-of-scope guard condition.
Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
* Address PR comments
Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
Co-authored-by: Mauro Passerino <mpasserino@irobot.com>
* Refactor graph listener tests to work on CentOS.
inject_on_return doesn't work on CentOS. To fix this, we
do two separate things:
1. Where applicable, replace calls to inject_on_return with
patch_and_return (which does work).
2. We were sort of abusing inject_on_return to do partial
initialization for us for some of the tests. Instead, make
the class under test (GraphListener) have a protected method
that we can call to do initialization. With this in place,
we can now get rid of the problematic inject_on_return.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Increase coverage rclcpp_action to 95%
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* PR fixup
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Address PR Feedback
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Rebase onto #1311
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* rcutils test depend
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Cleaning up
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Pass goal handle to goal response callback instead of a future
This resolves an issue where `promise->set_value` is called before a potential call to `promise->set_exception`.
If there is an issue sending a result request, set the exception on the future to the result in the goal handle, instead of the future to the goal handle itself.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Do not remove goal handle from list if result request fails
This way the user can still interact with the goal (e.g. send a cancel request).
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Set the result awareness to false if goal handle is invalidated
This will cause an exception when trying to get the future to result, in addition to the exception when trying to access values for existing references to the future.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Revert "Set the result awareness to false if goal handle is invalidated"
This reverts commit d444e09131c42d6eece1338443b8ffb4f5f17370.
* Throw from Client::async_get_result if the goal handle was invalidated due to a failed result request
Propagate error message from a failed result request.
Also set result awareness to false if the result request fails so the user can also check before
being hit with an exception.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Guard against mutliple calls to invalidate
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Fixes https://github.com/ros2/rclcpp/issues/955
There are currently two public APIs for users to get the result of a goal.
This change deprecates one of the APIs, which was considered to be unsafe as
it may result in a race with user-code and raise an exception.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* improve interoperability with rclcpp::Duration and std::chrono
Signed-off-by: William Woodall <william@osrfoundation.org>
* add to_rmw_time to Duration
Signed-off-by: William Woodall <william@osrfoundation.org>
* add new QoS class to rclcpp
Signed-off-by: William Woodall <william@osrfoundation.org>
* changes to NodeBase, NodeTopics, etc in preparation for changes to pub/sub
Signed-off-by: William Woodall <william@osrfoundation.org>
* refactor publisher creation to use new QoS class
Signed-off-by: William Woodall <william@osrfoundation.org>
* refactor subscription creation to use new QoS class
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixing fallout from changes to pub/sub creation
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixed Windows error: no appropriate default constructor available
why? who knows
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixed Windows error: could not deduce template argument for 'PublisherT'
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix missing vftable linker error on Windows
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix more cases of no suitable default constructor errors...
Signed-off-by: William Woodall <william@osrfoundation.org>
* prevent msvc from trying to interpret some cases as functions
Signed-off-by: William Woodall <william@osrfoundation.org>
* uncrustify
Signed-off-by: William Woodall <william@osrfoundation.org>
* cpplint
Signed-off-by: William Woodall <william@osrfoundation.org>
* add C++ version of default action qos
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixing lifecycle subscription signatures
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix allocators (we actually use this already in the pub/sub factory)
Signed-off-by: William Woodall <william@osrfoundation.org>
* suppress cppcheck on false positive syntax error
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix more cppcheck syntax error false positives
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix case where sub-type of QoS is used
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup get_node_topics_interface.hpp according to reviews and tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* additional fixes based on local testing and CI
Signed-off-by: William Woodall <william@osrfoundation.org>
* another trick to avoid 'no appropriate default constructor available'
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix compiler error with clang on macOS
Signed-off-by: William Woodall <william@osrfoundation.org>
* disable build failure tests until we can get Jenkins to ignore their output
Signed-off-by: William Woodall <william@osrfoundation.org>
* suppress more cppcheck false positives
Signed-off-by: William Woodall <william@osrfoundation.org>
* add missing visibility macros to default QoS profile classes
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix another case of 'no appropriate default constructor available'
Signed-off-by: William Woodall <william@osrfoundation.org>
* unfortunately this actaully fixes a build error on Windows...
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix typos
Signed-off-by: William Woodall <william@osrfoundation.org>
* Populate return code of CancelGoal service response
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Throw if there is an error processing a cancel goal request
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Make cancel callback signature consistent across cancel methods and add tests
Refactored the callback signature for canceling one goal. Now it is the same as the other cancel methods.
This makes it easier to communicate the error code to the user.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Address review
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Now supports callbacks for the goal response and result.
This also makes it easier to incorporate action clients in composable nodes since we don't have to rely on waiting on futures.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* match renamed action types
* fix action type casting
* rename type/field to use correct term
* rename custom GoalID type to avoid naming collision, update types using unique_identifier_msgs
* remove obsolete comments
* change signature of set_succeeded / set_canceled
* change signature of on_terminal_state_(uuid_, result_msg);set_succeeded / set_canceled
* change signature of set_aborted
* change signature of publish_feedback
* update another test
* WIP
* Removed async_cancel from action ClintGoalHandle API
* Added status handler to action client goal handler
* Added result handler to action client goal handler
* Identation fix
* Added get/set for action client goal handler
* Changed action client goal handler attrs from rcl to cpp versions
* Added check methods to action client goal handler
* Removed rcl_client pointer from action client goal handler
* Added basic waitable interface to action client
* Updated waitable execute from action client
* Added throw for rcl calls in action client
* Removed duplicated ready flags from action client
* Minor fix
* Added header to action ClientBaseImpl execute
* Mich's update to action client interface
* Added trailing suffix to client pimpl attrs
* Towards a consistent action client
* Misc fixes for the action client
* Yet more misc fixes for the action client
* Few more fixes and shortcuts to deal with missing type support.
* Fixed lint errors in action headers and client
* Fixes to action client internal workflow.
* Misc fixes to get client example to build
* More misck client fixes
* Remove debug print
* replace logging with throw_from_rcl_error
* Wrap result object given by client to user
* Fix a couple bugs trying to cancel goals
* Use unique_indentifier_msgs
* create_client accepts group and removes waitable
* Uncrustify fixes
* [rclcpp_action] Adds tests for action client.
* [WIP] Failing action client tests.
* [rclcpp_action] Action client tests passing.
* Spin both executors to make tests pass on my machine
* Feedback callback uses shared pointer
* comment about why make_result_aware is called
* Client documentation
* Execute one thing at a time
* Return nullptr instead of throwing RejectedGoalError
* ClientGoalHandle worries about feedback awareness
* cpplint + uncrustify
* Use node logging interface
* ACTION -> ActionT
* Make ClientBase constructor protected
* Return types on different line
* Avoid passing const reference to temporary
* Child logger rclcpp_action
* Child logger rclcpp_action
* possible windows fixes
* remove excess space
* swap argument order
* Misc test additions
* Windows independent_bits_engine can't do uint8_t
* Windows link issues
