Add action server with logic for accepting and canceling goals#53
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jacobperron merged 32 commits intogalactic-develfrom Jan 21, 2021
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Add action server with logic for accepting and canceling goals#53jacobperron merged 32 commits intogalactic-develfrom
jacobperron merged 32 commits intogalactic-develfrom
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ivanpauno
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Partial review, I have only some minor comments up to now
rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp
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rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.cpp
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ivanpauno
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Ok, I have finally reviewed most of this ...
I still have to check the native code more closely, and I haven't still looked at the executor code and tests.
rcljava/src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java
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rcljava/src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java
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rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java
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rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java
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The code looks good to me!
I don't know if there is something else pending before merging
Implementing these interfaces in the code generation template makes it easier to pass around these types in a generic way. Note, the 'final' modifier had to be removed from generated message types in order to extend goal, result, and feedback types in action definitions. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Also make inner classes static. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Partially revert commit dd04614. I don't think we need to aliases for the message types, but I'll add them back if they turn out to be useful.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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It should return a List, since it is hashable. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add new action module with classes/interfaces related to the ActionServer * Add methods for creating and removing ActionServers from a Node * Implement dispose method for ActionServer. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This changeset includes the following: * an implementation of the goal handle for action servers * action server integration with the base executor * action server integration with ROS nodes * unit tests for the action server, receiving goal and cancel requests Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
The goal request already contains a getter for the goal ID. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
…erOfEntites()' function Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Replace with 'namespace rcljava' Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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@ivanpauno In addition to addressing your feedback, I've made some patches for the change from Lists to arrays (f94150b). |
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LGTM!
If there are any details missing we can figure it out when this is completed and a tutorial is written.
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* Add interfaces for action goal, result, and feedback Implementing these interfaces in the code generation template makes it easier to pass around these types in a generic way. Note, the 'final' modifier had to be removed from generated message types in order to extend goal, result, and feedback types in action definitions. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add new definitions for action goal response and request Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add getter for UUID to SendGoalRequest Also make inner classes static. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add getStamp method to GoalResponseDefinition Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Partially revert "Add interfaces for action goal, result, and feedback" Partially revert commit dd04614. I don't think we need to aliases for the message types, but I'll add them back if they turn out to be useful. * Parameterize goal request and response interfaces on action type Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix getGoalUuid implementation It should return a List, since it is hashable. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * List<Byte> -> byte[] Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add ActionServer skeleton * Add new action module with classes/interfaces related to the ActionServer * Add methods for creating and removing ActionServers from a Node * Implement dispose method for ActionServer. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add ActionServer creation logic and unit tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add action server logic for accepting and canceling goals This changeset includes the following: * an implementation of the goal handle for action servers * action server integration with the base executor * action server integration with ROS nodes * unit tests for the action server, receiving goal and cancel requests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * cleanup Signed-off-by: Jacob Perron <jacob@openrobotics.org> * more cleanup Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor: move response enums into callback interfaces Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove TODO The goal request already contains a getter for the goal ID. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix accident Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Alphabetize Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor: replace 'getNumberOf*()' JNI functions with single 'getNumberOfEntites()' function Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Avoid string copy Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove extern C Replace with 'namespace rcljava' Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove unnecessary synchronization Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor access to goalCallback Signed-off-by: Jacob Perron <jacob@openrobotics.org> * typesafe request and response definitions Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Be more specific about template type for GoalCallback Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Make GoalHandleImpl inner class instead of static Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove synchronized from getHandle Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add TODO for Waitable interface Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix style Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add docs for createActionServer Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Switch from List to array Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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* Add interfaces for action goal, result, and feedback Implementing these interfaces in the code generation template makes it easier to pass around these types in a generic way. Note, the 'final' modifier had to be removed from generated message types in order to extend goal, result, and feedback types in action definitions. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add new definitions for action goal response and request Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add getter for UUID to SendGoalRequest Also make inner classes static. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add getStamp method to GoalResponseDefinition Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Partially revert "Add interfaces for action goal, result, and feedback" Partially revert commit dd04614. I don't think we need to aliases for the message types, but I'll add them back if they turn out to be useful. * Parameterize goal request and response interfaces on action type Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix getGoalUuid implementation It should return a List, since it is hashable. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * List<Byte> -> byte[] Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add ActionServer skeleton * Add new action module with classes/interfaces related to the ActionServer * Add methods for creating and removing ActionServers from a Node * Implement dispose method for ActionServer. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add ActionServer creation logic and unit tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add action server logic for accepting and canceling goals This changeset includes the following: * an implementation of the goal handle for action servers * action server integration with the base executor * action server integration with ROS nodes * unit tests for the action server, receiving goal and cancel requests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * cleanup Signed-off-by: Jacob Perron <jacob@openrobotics.org> * more cleanup Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor: move response enums into callback interfaces Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove TODO The goal request already contains a getter for the goal ID. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix accident Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Alphabetize Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor: replace 'getNumberOf*()' JNI functions with single 'getNumberOfEntites()' function Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Avoid string copy Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove extern C Replace with 'namespace rcljava' Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove unnecessary synchronization Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor access to goalCallback Signed-off-by: Jacob Perron <jacob@openrobotics.org> * typesafe request and response definitions Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Be more specific about template type for GoalCallback Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Make GoalHandleImpl inner class instead of static Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove synchronized from getHandle Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add TODO for Waitable interface Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix style Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add docs for createActionServer Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Switch from List to array Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Depends on #52
This is a partial implementation; trying to keep the diff smaller for review.
I'll follow-up with more PRs competing the implementation.