escalate RCL_RET_ACTION_xxx to 40XX. (#1191)

Signed-off-by: Tomoya Fujita <[email protected]>
ros2 · Sep 24, 2024 · 1e565d5 · 1e565d5
1 parent 3762d86
commit 1e565d5
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Showing 5 changed files with 24 additions and 26 deletions.
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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, &timestamp);
-  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));