Skip to content

Fix ActionServer cancelCallback declaration, doc & test #867

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.

Sign up for GitHub

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

Merged
wayneparrott merged 2 commits into from
Jul 24, 2022
Merged

Fix ActionServer cancelCallback declaration, doc & test #867

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
43ebcd1
Fix ActionServer cancelCallback declaration, doc & test
wayneparrott Jul 22, 2022
9dfc22c
Converted CancelCallback fn's goal param to an optional param
wayneparrott Jul 24, 2022
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
2 changes: 1 addition & 1 deletion lib/action/server.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -190,7 +190,7 @@ class ActionServer extends Entity {
*
* The purpose of the cancel callback is to decide if a request to cancel an on-going
* (or queued) goal should be accepted or rejected.
* The callback should take one parameter containing the cancel request and must return a
* The callback should take one parameter containing the cancel request (a goal handle) and must return a
* {@link CancelResponse} value.
*
* There can only be one cancel callback per {@link ActionServer}, therefore calling this
Expand Down
6 changes: 3 additions & 3 deletions test/test-action-server.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -289,7 +289,7 @@ describe('rclnodejs action server', function () {
return new Fibonacci.Result();
}

function cancelCallback() {
function cancelCallback(goalHandle) {
return rclnodejs.CancelResponse.ACCEPT;
}

Expand Down Expand Up @@ -334,7 +334,7 @@ describe('rclnodejs action server', function () {
return new Fibonacci.Result();
}

function cancelCallback() {
function cancelCallback(goalHandle) {
return rclnodejs.CancelResponse.REJECT;
}

Expand Down Expand Up @@ -381,7 +381,7 @@ describe('rclnodejs action server', function () {
serverGoalHandle = goalHandle;
}

function cancelCallback() {
function cancelCallback(goalHandle) {
return rclnodejs.CancelResponse.ACCEPT;
}

Expand Down
14 changes: 7 additions & 7 deletions test/types/main.ts
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -454,13 +454,13 @@ logger.fatal('test msg');
// f64arr.data;

// $ExpectType FibonacciConstructor
const Fibonacci = rclnodejs.require('test_msgs/action/Fibonacci');
const Fibonacci = rclnodejs.require('example_interfaces/action/Fibonacci');

// ---- ActionClient -----
// $ExpectType ActionClient<"test_msgs/action/Fibonacci">
// $ExpectType ActionClient<"example_interfaces/action/Fibonacci">
const actionClient = new rclnodejs.ActionClient(
node,
'test_msgs/action/Fibonacci',
'example_interfaces/action/Fibonacci',
'fibonnaci'
);

Expand All @@ -473,7 +473,7 @@ actionClient.waitForServer();
// $ExpectType void
actionClient.destroy();

// $ExpectType Promise<ClientGoalHandle<"test_msgs/action/Fibonacci">>
// $ExpectType Promise<ClientGoalHandle<"example_interfaces/action/Fibonacci">>
const goalHandlePromise = actionClient.sendGoal(new Fibonacci.Goal());

goalHandlePromise.then((goalHandle) => {
Expand Down Expand Up @@ -515,10 +515,10 @@ goalHandlePromise.then((goalHandle) => {
});

// ---- ActionServer -----
// $ExpectType ActionServer<"test_msgs/action/Fibonacci">
// $ExpectType ActionServer<"example_interfaces/action/Fibonacci">
const actionServer = new rclnodejs.ActionServer(
node,
'test_msgs/action/Fibonacci',
'example_interfaces/action/Fibonacci',
'fibonnaci',
executeCallback
);
Expand All @@ -539,7 +539,7 @@ actionServer.registerExecuteCallback(() => new Fibonacci.Result());
actionServer.destroy();

function executeCallback(
goalHandle: rclnodejs.ServerGoalHandle<'test_msgs/action/Fibonacci'>
goalHandle: rclnodejs.ServerGoalHandle<'example_interfaces/action/Fibonacci'>
) {
// $ExpectType UUID
goalHandle.goalId;
Expand Down
10 changes: 6 additions & 4 deletions types/action_server.d.ts
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,9 @@ declare module 'rclnodejs' {
type HandleAcceptedCallback<T extends TypeClass<ActionTypeClassName>> = (
goalHandle: ServerGoalHandle<T>
) => void;
type CancelCallback = () => Promise<CancelResponse> | CancelResponse;
type CancelCallback<T extends TypeClass<ActionTypeClassName>> = (
goalHandle?: ServerGoalHandle<T>
) => Promise<CancelResponse> | CancelResponse;

interface ActionServerOptions extends Options<ActionQoS> {
/**
Expand Down Expand Up @@ -116,7 +118,7 @@ declare module 'rclnodejs' {
executeCallback: ExecuteCallback<T>,
goalCallback?: GoalCallback<T>,
handleAcceptedCallback?: HandleAcceptedCallback<T>,
cancelCallback?: CancelCallback,
cancelCallback?: CancelCallback<T>,
options?: ActionServerOptions
);

Expand Down Expand Up @@ -153,14 +155,14 @@ declare module 'rclnodejs' {
*
* The purpose of the cancel callback is to decide if a request to cancel an on-going
* (or queued) goal should be accepted or rejected.
* The callback should take one parameter containing the cancel request and must return a
* The callback should take one parameter containing the cancel request ( a GoalHandle) and must return a
* {@link CancelResponse} value.
*
* There can only be one cancel callback per {@link ActionServer}, therefore calling this
* function will replace any previously registered callback.
* @param cancelCallback - Callback function, if not provided, then unregisters any previously registered callback.
*/
registerCancelCallback(cancelCallback?: CancelCallback): void;
registerCancelCallback(cancelCallback?: CancelCallback<T>): void;
Copy link
Member

@minggangw minggangw Jul 23, 2022

Choose a reason for hiding this comment

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

Optional param makes sense, thanks!


/**
* Register a callback for executing action goals.
Expand Down