[Personalrobots-commit] SF.net SVN: personalrobots:[17266] pkg/trunk

[<tpr...@us...>]

Revision: 17266
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17266&view=rev
Author:   tpratkanis
Date:     2009-06-18 00:40:41 +0000 (Thu, 18 Jun 2009)

Log Message:
-----------
Fix some things in robot actions.

Modified Paths:
--------------
    pkg/trunk/common/robot_actions/include/robot_actions/action.h
    pkg/trunk/common/robot_actions/msg/ActionStatus.msg
    pkg/trunk/highlevel/robot_actions_tools/list_action_state.py
    pkg/trunk/highlevel/test_robot_actions/test/utest.cc

Modified: pkg/trunk/common/robot_actions/include/robot_actions/action.h
===================================================================
--- pkg/trunk/common/robot_actions/include/robot_actions/action.h	2009-06-18 00:40:41 UTC (rev 17265)
+++ pkg/trunk/common/robot_actions/include/robot_actions/action.h	2009-06-18 00:40:41 UTC (rev 17266)
@@ -51,6 +51,7 @@
 #include <boost/thread.hpp>
 #include <ros/node.h>
 #include <diagnostic_msgs/DiagnosticMessage.h>
+#include "ros/assert.h" 
 
 namespace robot_actions {
 
@@ -77,13 +78,6 @@
      * @param feedback The feedback message. At the end of the function, this will be published.
      */
     virtual ResultStatus execute(const Goal& goal, Feedback& feedback) = 0;
-
-    /**
-     * @brief Allows the user to check if the action is active. This is primarily used to condition behavior
-     * for low duty cycles when the action is inactive
-     * @return True if the action is active, false otherwise.
-     */
-    bool isActive() const { return _status.value == _status.ACTIVE; }
     
     /**
      * @brief Called by the user to check if the action has a new goal.
@@ -107,6 +101,13 @@
   public:
 
     /**
+     * @brief Allows the user to check if the action is active. This is primarily used to condition behavior
+     * for low duty cycles when the action is inactive
+     * @return True if the action is active, false otherwise.
+     */
+    bool isActive() const { return _status.value == _status.ACTIVE; }
+
+    /**
      * @brief Accessor for the action name
      */
     const std::string& getName() const { return _name; }
@@ -184,12 +185,12 @@
      */
     Action(const std::string& name)
       : _name(name), _preempt_request(false), _result_status(SUCCESS), _terminated(false), _action_thread(NULL), _callback(NULL),_diagnostics_statuses(1){
-      _status.value = ActionStatus::UNDEFINED; 
+      _status.value = ActionStatus::RESET; 
       ros::Node::instance()->advertise<diagnostic_msgs::DiagnosticMessage> ("/diagnostics", 1) ;
     }
 
     virtual ~Action(){
-      terminate();
+      ROS_ASSERT_MSG(_terminated, "Actions must be terminated before they are deleted, or there will be a segfault. In this case, action '%s' terminated was terminated before it was deleted.", _name.c_str());
       if(_action_thread != NULL){
 	_action_thread->join();
 	delete _action_thread;
@@ -270,8 +271,8 @@
         else
           diagnostics_status.message = "Active";
       }
-      else if (_status.value == ActionStatus::UNDEFINED)
-        diagnostics_status.message = "Undefined";
+      else if (_status.value == ActionStatus::RESET)
+        diagnostics_status.message = "Reset";
       else if (_status.value == ActionStatus::PREEMPTED)
         diagnostics_status.message = "Preempted";
       else if (_status.value == ActionStatus::ABORTED)

Modified: pkg/trunk/common/robot_actions/msg/ActionStatus.msg
===================================================================
--- pkg/trunk/common/robot_actions/msg/ActionStatus.msg	2009-06-18 00:40:41 UTC (rev 17265)
+++ pkg/trunk/common/robot_actions/msg/ActionStatus.msg	2009-06-18 00:40:41 UTC (rev 17266)
@@ -1,8 +1,8 @@
 # This message defines the expected format for robot action status messages
 # Embed this in the feedback state message of robot actions
 
-# The action is inactive, and its status with respect to a prior request is undefined.
-byte UNDEFINED=0
+# The action is inactive, and has just been reset.
+byte RESET=0
 
 # The action has successfuly completed and is now inactive
 byte SUCCESS=1

Modified: pkg/trunk/highlevel/robot_actions_tools/list_action_state.py
===================================================================
--- pkg/trunk/highlevel/robot_actions_tools/list_action_state.py	2009-06-18 00:40:41 UTC (rev 17265)
+++ pkg/trunk/highlevel/robot_actions_tools/list_action_state.py	2009-06-18 00:40:41 UTC (rev 17266)
@@ -103,8 +103,8 @@
 
 def set_topic_key(topic, msg):
     global controllers
-    if (msg.status.value == msg.status.UNDEFINED):
-        controllers[topic] = "Undefined"
+    if (msg.status.value == msg.status.RESET):
+        controllers[topic] = "Reset"
     elif (msg.status.value == msg.status.SUCCESS):
         controllers[topic] = "Success"
     elif (msg.status.value == msg.status.ABORTED):

Modified: pkg/trunk/highlevel/test_robot_actions/test/utest.cc
===================================================================
--- pkg/trunk/highlevel/test_robot_actions/test/utest.cc	2009-06-18 00:40:41 UTC (rev 17265)
+++ pkg/trunk/highlevel/test_robot_actions/test/utest.cc	2009-06-18 00:40:41 UTC (rev 17266)
@@ -1,4 +1,3 @@
-#include <robot_actions/action.h>
 #include <robot_actions/action_runner.h>
 #include <robot_actions/action_client.h>
 #include <robot_actions/message_adapter.h>
@@ -18,7 +17,7 @@
 class MyAction: public robot_actions::Action<Float32, Float32> {
 public:
 
-  MyAction(): robot_actions::Action<Float32, Float32>("my_action"), _use_deactivate_wait(false) {}
+  MyAction(std::string name): robot_actions::Action<Float32, Float32>(name), _use_deactivate_wait(false) {}
 
   bool _use_deactivate_wait;
 
@@ -80,7 +79,7 @@
   MySimpleContainer(MyAction& action){
     _value = 0;
     action.connect(boost::bind(&MySimpleContainer::notify, this, _1, _2, _3));
-    _status.value = robot_actions::ActionStatus::UNDEFINED;
+    _status.value = robot_actions::ActionStatus::RESET;
   }
 
   ActionStatus _status;
@@ -89,7 +88,7 @@
 
 
 // Hack to fordce linkage - gtest macro issue
-const int8_t robot_actions::ActionStatus::UNDEFINED;
+const int8_t robot_actions::ActionStatus::RESET;
 const int8_t robot_actions::ActionStatus::SUCCESS;
 const int8_t robot_actions::ActionStatus::PREEMPTED;
 const int8_t robot_actions::ActionStatus::ABORTED;
@@ -100,7 +99,7 @@
  * Test - just exercises compilation and demonstrates use
  */
 TEST(robot_actions, action_with_simple_container){
-  MyAction a;
+  MyAction a("my_action_test_action_with_simple_container");
   MySimpleContainer c(a);
   Float32 g;
   g.data = 10.0;
@@ -131,13 +130,14 @@
   robot_actions::AbstractAdapter& abstract_adapter(adapter); 
   abstract_adapter.initialize();
   abstract_adapter.terminate();
+  a.terminate();
 }
 
 /**
  * Test - Run give a number of goals.
  */
 TEST(robot_actions, many_goals) {
-  MyAction a;
+  MyAction a("my_action_test_many_goals");
   MySimpleContainer c(a);
   Float32 g;
   robot_actions::ActionStatus foo;
@@ -165,14 +165,14 @@
       ASSERT_EQ(i < c._value, true);
     }
   }
-
+  a.terminate();
 }
 
 /**
  * Test - Run give a number of goals. Use waitForDeactivation().
  */
 TEST(robot_actions, many_goals_wait_for_deactivation) {
-  MyAction a;
+  MyAction a("robot_actions_test_many_goals_wait_for_deactivation");
   MySimpleContainer c(a);
   Float32 g;
   robot_actions::ActionStatus foo;
@@ -201,6 +201,7 @@
       ASSERT_EQ(i < c._value, true);
     }
   }
+  a.terminate();
 }
 
 /**
@@ -209,7 +210,7 @@
 TEST(robot_actions, action_with_action_runner){
 
   // Now connect actions
-  MyAction a;
+  MyAction a("my_action_test_action_with_action_runner");
   Float32 g;
   robot_actions::ActionStatus foo;
 
@@ -230,7 +231,7 @@
 TEST(robot_actions, action_client){
 
   // Now connect actions
-  MyAction action;
+  MyAction action("my_action");
 
   // Now run it.
   robot_actions::ActionRunner runner(10.0);
@@ -244,7 +245,7 @@
 
   Float32 g, f;
   g.data = 5;
-  robot_actions::ResultStatus result = client.execute(g, f, ros::Duration(1));
+  robot_actions::ResultStatus result = client.execute(g, f, ros::Duration().fromSec(10));
   ASSERT_EQ(result, robot_actions::SUCCESS);
 
   result = client.execute(g, f, ros::Duration().fromSec(0.0001));
@@ -265,7 +266,9 @@
   // First allocate it with an update rate of 10 Hz
   robot_actions::ActionRunner runner(10.0);
   for (int i = 0; i < 100; i++) {
-    MyAction* a = new MyAction();
+    std::stringstream buff;  
+    buff << "my_action_test_scalability" << i;
+    MyAction* a = new MyAction(buff.str());
     actions.push_back(a);
     runner.connect<Float32, TestState, Float32>(*a);
   }
@@ -278,6 +281,7 @@
   duration.sleep();
 
   while(!actions.size()) {
+    actions[0]->terminate();
     delete actions[0];
     actions.erase(actions.begin());
   }


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