Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

rcl_action - user friendly error messages for invalid transitions #448

Merged
merged 3 commits into from
May 21, 2019
Merged
Show file tree
Hide file tree
Changes from 2 commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions rcl_action/include/rcl_action/types.h
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
{
Expand Down
6 changes: 3 additions & 3 deletions rcl_action/src/rcl_action/goal_handle.c
Original file line number Diff line number Diff line change
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;
Expand Down
7 changes: 7 additions & 0 deletions rcl_action/src/rcl_action/types.c
Original file line number Diff line number Diff line change
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 chang
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

typo: "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