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[rcl_action] Add function to check if goal can be transitioned to CAN…
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…CELING (#325)

* [rcl_action] Add function for checking if goal can be transitioned to CANCELING

Add unit tests for the new function rcl_action_goal_handle_is_cancelable(), as well as rcl_action_goal_handle_is_active().
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@jacobperron
jacobperron authored Nov 13, 2018
1 parent 9351fd8 commit 8b00791
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Showing 3 changed files with 88 additions and 45 deletions.
33 changes: 28 additions & 5 deletions rcl_action/include/rcl_action/goal_handle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -202,15 +202,37 @@ rcl_action_goal_handle_get_status(
* Lock-Free | Yes
*
* \param[in] goal_handle struct containing the goal and metadata
* \return `true` if a goal is in one of the following states: ACCEPTED, EXECUTING, or CANCELING, or
* \return `false` otherwise, also
* \return `false` if the goal handle pointer is invalid
* \return `true` if the goal is in one of the following states: ACCEPTED, EXECUTING, or CANCELING, or
* \return `false` if the goal handle pointer is invalid, or
* \return `false` otherwise
*/
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle);

/// Check if a goal can be transitioned to CANCELING in its current state.
/**
* This is a non-blocking call.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] goal_handle struct containing the goal and metadata
* \return `true` if the goal can be transitioned to CANCELING from its current state, or
* \return `false` if the goal handle pointer is invalid, or
* \return `false` otherwise
*/
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handle);

/// Check if a rcl_action_goal_handle_t is valid.
/**
* This is a non-blocking call.
Expand All @@ -229,8 +251,9 @@ rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle);
* Lock-Free | Yes
*
* \param[in] goal_handle struct to evaluate as valid or not
* \return `true` if the goal handle is valid, `false` otherwise, also
* \return `false` if the goal handle pointer is null
* \return `true` if the goal handle is valid, or
* \return `false` if the goal handle pointer is null, or
* \return `false` otherwise
*/
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
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12 changes: 12 additions & 0 deletions rcl_action/src/rcl_action/goal_handle.c
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,18 @@ rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle)
}
}

bool
rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handle)
{
if (!rcl_action_goal_handle_is_valid(goal_handle)) {
return false; // error message is set
}
// Check if the state machine reports a cancel event is valid
rcl_action_goal_state_t state = rcl_action_transition_goal_state(
goal_handle->impl->state, GOAL_EVENT_CANCEL);
return GOAL_STATE_CANCELING == state;
}

bool
rcl_action_goal_handle_is_valid(const rcl_action_goal_handle_t * goal_handle)
{
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88 changes: 48 additions & 40 deletions rcl_action/test/rcl_action/test_goal_handle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

#include <sstream>
#include <string>
#include <utility>
#include <tuple>
#include <vector>

#include "rcl_action/goal_handle.h"
Expand Down Expand Up @@ -156,8 +156,9 @@ TEST(TestGoalHandle, test_goal_handle_update_state_invalid)
rcl_reset_error();
}

using EventStatePair = std::pair<rcl_action_goal_event_t, rcl_action_goal_state_t>;
using StateTransitionSequence = std::vector<EventStatePair>;
using EventStateActiveCancelableTuple =
std::tuple<rcl_action_goal_event_t, rcl_action_goal_state_t, bool, bool>;
using StateTransitionSequence = std::vector<EventStateActiveCancelableTuple>;
const std::vector<std::string> event_strs = {
"EXECUTE", "CANCEL", "SET_SUCCEEDED", "SET_ABORTED", "SET_CANCELED"};

Expand All @@ -169,8 +170,8 @@ class TestGoalHandleStateTransitionSequence
const testing::TestParamInfo<StateTransitionSequence> & info)
{
std::stringstream result;
for (const EventStatePair & event_state : info.param) {
result << "_" << event_strs[event_state.first];
for (const EventStateActiveCancelableTuple & event_state : info.param) {
result << "_" << event_strs[std::get<0>(event_state)];
}
return result.str();
}
Expand Down Expand Up @@ -216,56 +217,63 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions

// Walk through state transitions
rcl_ret_t ret;
for (const EventStatePair & event_state : this->test_sequence) {
ret = rcl_action_update_goal_state(&this->goal_handle, event_state.first);
const rcl_action_goal_state_t & expected_state = event_state.second;
if (GOAL_STATE_UNKNOWN == expected_state) {
for (const EventStateActiveCancelableTuple & event_state : this->test_sequence) {
rcl_action_goal_event_t goal_event;
rcl_action_goal_state_t expected_goal_state;
bool expected_is_active;
bool expected_is_cancelable;
std::tie(goal_event, expected_goal_state, expected_is_active, expected_is_cancelable) =
event_state;
ret = rcl_action_update_goal_state(&this->goal_handle, goal_event);
if (GOAL_STATE_UNKNOWN == expected_goal_state) {
EXPECT_EQ(ret, RCL_RET_ACTION_GOAL_EVENT_INVALID);
continue;
}
EXPECT_EQ(ret, RCL_RET_OK);
expect_state_eq(expected_state);
expect_state_eq(expected_goal_state);
EXPECT_EQ(expected_is_active, rcl_action_goal_handle_is_active(&this->goal_handle));
EXPECT_EQ(expected_is_cancelable, rcl_action_goal_handle_is_cancelable(&this->goal_handle));
}
}

// Test sequence parameters
// Note, each sequence starts in the ACCEPTED state
const StateTransitionSequence valid_state_transition_sequences[] = {
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
},
{
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED},
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
},
{
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
},
// This is an odd case, but valid nonetheless
{
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
},
};

Expand All @@ -277,27 +285,27 @@ INSTANTIATE_TEST_CASE_P(

const StateTransitionSequence invalid_state_transition_sequences[] = {
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN, false, false),
},
};

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