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rcl_action - user friendly error messages for invalid transitions #448

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merged 3 commits into from
May 21, 2019
Merged

rcl_action - user friendly error messages for invalid transitions #448

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d8517c4
user friendly error messages for invalid transitions
skucheria May 21, 2019
cf88f63
moved descriptions to type.c/.h
skucheria May 21, 2019
2fdf2bf
fixed typo
skucheria May 21, 2019
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5 changes: 5 additions & 0 deletions rcl_action/include/rcl_action/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,11 @@ typedef int8_t rcl_action_goal_state_t;
#define GOAL_STATE_ABORTED action_msgs__msg__GoalStatus__STATUS_ABORTED
#define GOAL_STATE_NUM_STATES 7

/// User friendly error messages for invalid trasntions
// Description variables in types.c should be changed if enum values change
extern const char * goal_state_descriptions[];
extern const char * goal_event_descriptions[];

/// Goal state transition events
typedef enum rcl_action_goal_event_t
{
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6 changes: 3 additions & 3 deletions rcl_action/src/rcl_action/goal_handle.c
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Expand Up @@ -89,9 +89,9 @@ rcl_action_update_goal_state(
goal_handle->impl->state, goal_event);
if (GOAL_STATE_UNKNOWN == new_state) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"goal_handle attempted invalid transition from state %d with event %d",
goal_handle->impl->state,
goal_event);
"goal_handle attempted invalid transition from state %s with event %s",
goal_state_descriptions[goal_handle->impl->state],
goal_event_descriptions[goal_event]);
return RCL_RET_ACTION_GOAL_EVENT_INVALID;
}
goal_handle->impl->state = new_state;
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7 changes: 7 additions & 0 deletions rcl_action/src/rcl_action/types.c
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Expand Up @@ -132,6 +132,13 @@ rcl_action_cancel_response_fini(rcl_action_cancel_response_t * cancel_response)
return RCL_RET_OK;
}

/// Values should be changed if enum values change
const char * goal_state_descriptions[] =
{"UNKNOWN", "ACCEPTED", "EXECUTING", "CANCELING", "SUCCEEDED", "CANCELED", "ABORTED"};

const char * goal_event_descriptions[] =
{"EXECUTE", "CANCEL_GOAL", "SUCCEED", "ABORT", "CANCELED", "NUM_EVENTS"};

#ifdef __cplusplus
}
#endif