From 1e565d56551f193b5cb1461a6ed71015508f7485 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Tue, 24 Sep 2024 03:04:17 -0700 Subject: [PATCH] escalate RCL_RET_ACTION_xxx to 40XX. (#1191) Signed-off-by: Tomoya Fujita --- rcl/include/rcl/types.h | 20 ++++++++++++++++++- rcl_action/include/rcl_action/types.h | 20 ------------------- rcl_action/src/rcl_action/action_server.c | 6 +++--- rcl_action/src/rcl_action/goal_handle.c | 2 +- .../test/rcl_action/test_goal_handle.cpp | 2 +- 5 files changed, 24 insertions(+), 26 deletions(-) diff --git a/rcl/include/rcl/types.h b/rcl/include/rcl/types.h index 6ae462873..223817eb1 100644 --- a/rcl/include/rcl/types.h +++ b/rcl/include/rcl/types.h @@ -127,8 +127,26 @@ typedef rmw_ret_t rcl_ret_t; #define RCL_RET_LIFECYCLE_STATE_NOT_REGISTERED 3001 // rcl action specific ret codes in 40XX +/// Action name does not pass validation return code. +#define RCL_RET_ACTION_NAME_INVALID 4000 /// No terminal timestamp for the goal as it has not reached a terminal state. -#define RCL_ACTION_RET_NOT_TERMINATED_YET 4001 +#define RCL_RET_ACTION_NOT_TERMINATED_YET 4001 +/// Action goal accepted return code. +#define RCL_RET_ACTION_GOAL_ACCEPTED 4100 +/// Action goal rejected return code. +#define RCL_RET_ACTION_GOAL_REJECTED 4101 +/// Action client is invalid return code. +#define RCL_RET_ACTION_CLIENT_INVALID 4102 +/// Action client failed to take response return code. +#define RCL_RET_ACTION_CLIENT_TAKE_FAILED 4103 +/// Action server is invalid return code. +#define RCL_RET_ACTION_SERVER_INVALID 4200 +/// Action server failed to take request return code. +#define RCL_RET_ACTION_SERVER_TAKE_FAILED 4201 +/// Action goal handle invalid return code. +#define RCL_RET_ACTION_GOAL_HANDLE_INVALID 4300 +/// Action invalid event return code. +#define RCL_RET_ACTION_GOAL_EVENT_INVALID 4301 /// typedef for rmw_serialized_message_t; typedef rmw_serialized_message_t rcl_serialized_message_t; diff --git a/rcl_action/include/rcl_action/types.h b/rcl_action/include/rcl_action/types.h index c34bd42db..30a16fbe7 100644 --- a/rcl_action/include/rcl_action/types.h +++ b/rcl_action/include/rcl_action/types.h @@ -33,26 +33,6 @@ extern "C" #include "rosidl_runtime_c/action_type_support_struct.h" -// rcl action specific ret codes in 2XXX -/// Action name does not pass validation return code. -#define RCL_RET_ACTION_NAME_INVALID 2000 -/// Action goal accepted return code. -#define RCL_RET_ACTION_GOAL_ACCEPTED 2100 -/// Action goal rejected return code. -#define RCL_RET_ACTION_GOAL_REJECTED 2101 -/// Action client is invalid return code. -#define RCL_RET_ACTION_CLIENT_INVALID 2102 -/// Action client failed to take response return code. -#define RCL_RET_ACTION_CLIENT_TAKE_FAILED 2103 -/// Action server is invalid return code. -#define RCL_RET_ACTION_SERVER_INVALID 2200 -/// Action server failed to take request return code. -#define RCL_RET_ACTION_SERVER_TAKE_FAILED 2201 -/// Action goal handle invalid return code. -#define RCL_RET_ACTION_GOAL_HANDLE_INVALID 2300 -/// Action invalid event return code. -#define RCL_RET_ACTION_GOAL_EVENT_INVALID 2301 - // TODO(jacobperron): Move these to a common place for UUIDs #define UUID_SIZE 16 #define uuidcmp(uuid0, uuid1) (0 == memcmp(uuid0, uuid1, UUID_SIZE)) diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c index 65957cdf6..dfa82be52 100644 --- a/rcl_action/src/rcl_action/action_server.c +++ b/rcl_action/src/rcl_action/action_server.c @@ -459,7 +459,7 @@ _recalculate_expire_timer( rcl_time_point_value_t goal_terminal_timestamp; ret = rcl_action_goal_handle_get_goal_terminal_timestamp( goal_handle, &goal_terminal_timestamp); - if (RCL_ACTION_RET_NOT_TERMINATED_YET == ret) { + if (RCL_RET_ACTION_NOT_TERMINATED_YET == ret) { continue; } if (RCL_RET_OK != ret) { @@ -655,7 +655,7 @@ rcl_action_expire_goals( } ret = rcl_action_goal_handle_get_goal_terminal_timestamp(goal_handle, &goal_terminal_timestamp); - if (RCL_ACTION_RET_NOT_TERMINATED_YET == ret) { + if (RCL_RET_ACTION_NOT_TERMINATED_YET == ret) { continue; } if (RCL_RET_OK != ret) { @@ -738,7 +738,7 @@ rcl_action_notify_goal_done( rcl_time_point_value_t goal_terminal_timestamp; rcl_ret_t ret = rcl_action_goal_handle_get_goal_terminal_timestamp( goal_handle, &goal_terminal_timestamp); - if (RCL_ACTION_RET_NOT_TERMINATED_YET == ret) { + if (RCL_RET_ACTION_NOT_TERMINATED_YET == ret) { ret = rcl_action_goal_handle_set_goal_terminal_timestamp(goal_handle, current_time); if (RCL_RET_OK != ret) { return RCL_RET_ERROR; diff --git a/rcl_action/src/rcl_action/goal_handle.c b/rcl_action/src/rcl_action/goal_handle.c index e7698d7d3..d6ba4e5fb 100644 --- a/rcl_action/src/rcl_action/goal_handle.c +++ b/rcl_action/src/rcl_action/goal_handle.c @@ -192,7 +192,7 @@ rcl_action_goal_handle_get_goal_terminal_timestamp( RCL_CHECK_ARGUMENT_FOR_NULL(timestamp, RCL_RET_INVALID_ARGUMENT); if (goal_handle->impl->goal_terminal_timestamp == INVAILD_GOAL_TERMINAL_TIMESTAMP) { - return RCL_ACTION_RET_NOT_TERMINATED_YET; + return RCL_RET_ACTION_NOT_TERMINATED_YET; } *timestamp = goal_handle->impl->goal_terminal_timestamp; diff --git a/rcl_action/test/rcl_action/test_goal_handle.cpp b/rcl_action/test/rcl_action/test_goal_handle.cpp index 2b96d9862..a2fb08a5a 100644 --- a/rcl_action/test/rcl_action/test_goal_handle.cpp +++ b/rcl_action/test/rcl_action/test_goal_handle.cpp @@ -195,7 +195,7 @@ TEST(TestGoalHandle, rcl_action_goal_handle_get_goal_terminal_timestamp) rcl_time_point_value_t timestamp; ret = rcl_action_goal_handle_get_goal_terminal_timestamp(&goal_handle, ×tamp); - EXPECT_EQ(ret, RCL_ACTION_RET_NOT_TERMINATED_YET) << rcl_get_error_string().str; + EXPECT_EQ(ret, RCL_RET_ACTION_NOT_TERMINATED_YET) << rcl_get_error_string().str; rcl_reset_error(); EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&goal_handle));