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Commit 3f87a95d authored by Ernesto Corbellini's avatar Ernesto Corbellini
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Refactor code of the client's state machine. 

Adapted tests.
parent 40bdd94f
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src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/CommStateMachine.java → src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
+ 98
− 91
View file @ 3f87a95d
......@@ -16,7 +16,8 @@
package com.github.ekumen.rosjava_actionlib;
import java.lang.Exception;
import actionlib_msgs.GoalStatus;
import java.util.Vector;
import java.util.Iterator;
......@@ -28,7 +29,7 @@ import java.util.Iterator;
* - The state returned on a transition is actually a vector of states that should be transitioned in sequence.
* TODO: change class name to ClientStateMachine
*/
public class CommStateMachine {
public class ClientStateMachine {
// Local class to hold the states
public static class ClientStates {
public final static int INVALID_TRANSITION = -2;
......@@ -53,28 +54,26 @@ public class CommStateMachine {
/**
* Constructor
*/
//public void CommStateMachine(ActionGoal actionGoal, transition_callback?, feedback_callback?, send_goal_function, send_cancel_function)
//public void CommStateMachine(ActionGoal actionGoal, transition_callback?, feedback_callback?, ActionGoalTrigger)
public void CommStateMachine(ActionGoal actionGoal)
public void ClientStateMachine()
{
// interface object for the callbacks?
// store arguments locally in the object
this.goal = actionGoal;
//this.goal = actionGoal;
}
/*
* Compare two objects.
*/
public boolean equals(CommStateMachine obj) {
public boolean equals(ClientStateMachine obj) {
//return actionGoal.goalId.id == obj.actionGoal.goalId.id;
return true;
}
public void setState(int state) {
public synchronized void setState(int state) {
this.state = state;
}
public int getState() {
public synchronized int getState() {
return this.state;
}
......@@ -108,66 +107,74 @@ public class CommStateMachine {
}
public void transitionTo(int toState)
/**
* Update the state of the client upon the received status of the goal.
* @param goalStatus Status of the goal.
*/
public synchronized void transition(int goalStatus)
{
Vector nextStates;
Iterator iterStates;
int state;
Vector<Integer> nextStates;
Iterator<Integer> iterStates;
// transition to next states
nextStates = getTransition(ActionGoal.GoalStates.ACTIVE);
nextStates = getTransition(goalStatus);
iterStates = nextStates.iterator();
while (iterStates.hasNext()) {
state = (int)iterStates.next();
this.state = iterStates.next();
}
}
/**
* Get the next state transition depending on the current client state and the goal state.
* Note: this replaces the transition lookup table from the original implementation.
* Get the next state transition depending on the current client state and the
* goal state.
* @param goalStatus The current status of the tracked goal.
* @return A vector with the list of next states. The states should be
* transitioned in order. This is necessary because if we loose a state update
* we might still be able to infer the actual transition history that took us
* to the final goal state.
*/
public Vector getTransition(int goalStatus)
public Vector<Integer> getTransition(int goalStatus)
{
Vector stateList = new Vector();
Vector<Integer> stateList = new Vector<Integer>();
switch (this.state)
{
case ClientStates.WAITING_FOR_GOAL_ACK:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
stateList.add(ClientStates.PENDING);
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
stateList.add(ClientStates.ACTIVE);
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
stateList.add(ClientStates.PENDING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.PENDING);
stateList.add(ClientStates.RECALLING);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
stateList.add(ClientStates.PENDING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.PREEMPTING);
break;
......@@ -176,36 +183,36 @@ public class CommStateMachine {
case ClientStates.PENDING:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
// no transition
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
stateList.add(ClientStates.ACTIVE);
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.RECALLING);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
stateList.add(ClientStates.RECALLING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.ACTIVE);
stateList.add(ClientStates.PREEMPTING);
break;
......@@ -214,32 +221,32 @@ public class CommStateMachine {
case ClientStates.ACTIVE:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
// no transition
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.PREEMPTING);
break;
}
......@@ -247,31 +254,31 @@ public class CommStateMachine {
case ClientStates.WAITING_FOR_RESULT:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
// no transition
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
// no transition
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
// no transition
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
// no transition
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
// no transition
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
// no transition
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
}
......@@ -279,35 +286,35 @@ public class CommStateMachine {
case ClientStates.WAITING_FOR_CANCEL_ACK:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
// no transition
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
// no transition
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.RECALLING);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
stateList.add(ClientStates.RECALLING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.PREEMPTING);
break;
}
......@@ -315,35 +322,35 @@ public class CommStateMachine {
case ClientStates.RECALLING:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
// no transition
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
// no transition
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.RECALLING);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
stateList.add(ClientStates.RECALLING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
stateList.add(ClientStates.PREEMPTING);
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.PREEMPTING);
break;
}
......@@ -351,31 +358,31 @@ public class CommStateMachine {
case ClientStates.PREEMPTING:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
stateList.add(ClientStates.WAITING_FOR_RESULT);
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
// no transition
break;
}
......@@ -383,31 +390,31 @@ public class CommStateMachine {
case ClientStates.DONE:
switch (goalStatus)
{
case ActionGoal.GoalStates.PENDING:
case actionlib_msgs.GoalStatus.PENDING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.ACTIVE:
case actionlib_msgs.GoalStatus.ACTIVE:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.REJECTED:
case actionlib_msgs.GoalStatus.REJECTED:
// no transition
break;
case ActionGoal.GoalStates.RECALLING:
case actionlib_msgs.GoalStatus.RECALLING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
case ActionGoal.GoalStates.RECALLED:
case actionlib_msgs.GoalStatus.RECALLED:
// no transition
break;
case ActionGoal.GoalStates.PREEMPTED:
case actionlib_msgs.GoalStatus.PREEMPTED:
// no transition
break;
case ActionGoal.GoalStates.SUCCEEDED:
case actionlib_msgs.GoalStatus.SUCCEEDED:
// no transition
break;
case ActionGoal.GoalStates.ABORTED:
case actionlib_msgs.GoalStatus.ABORTED:
// no transition
break;
case ActionGoal.GoalStates.PREEMPTING:
case actionlib_msgs.GoalStatus.PREEMPTING:
stateList.add(ClientStates.INVALID_TRANSITION);
break;
}
......
src/rosjava_actionlib/rosjava_actionlib/src/test/java/TestClientStateMachine.java 0 → 100644
+ 24
− 0
View file @ 3f87a95d
import com.github.ekumen.rosjava_actionlib.*;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import java.util.Vector;
import actionlib_msgs.GoalStatus;
public class TestClientStateMachine {
@Test
public void test() {
int state;
ClientStateMachine stateMachine = new ClientStateMachine();
//
// set initial state
stateMachine.setState(ClientStateMachine.ClientStates.WAITING_FOR_GOAL_ACK);
// transition to next states
stateMachine.transition(actionlib_msgs.GoalStatus.ACTIVE);
assertEquals(ClientStateMachine.ClientStates.ACTIVE, stateMachine.getState());
stateMachine.transition(actionlib_msgs.GoalStatus.PREEMPTING);
assertEquals(ClientStateMachine.ClientStates.PREEMPTING, stateMachine.getState());
stateMachine.transition(actionlib_msgs.GoalStatus.SUCCEEDED);
assertEquals(ClientStateMachine.ClientStates.WAITING_FOR_RESULT, stateMachine.getState());
}
}
src/rosjava_actionlib/rosjava_actionlib/src/test/java/TestCommStateMachine.java deleted 100644 → 0
+ 0
− 20
View file @ 40bdd94f
import com.github.ekumen.rosjava_actionlib.*;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import java.util.Vector;
public class TestCommStateMachine {
@Test
public void test() {
CommStateMachine stateMachine = new CommStateMachine();
Vector nextStates;
// set initial state
stateMachine.setState(CommStateMachine.ClientStates.WAITING_FOR_GOAL_ACK);
// transition to next states
nextStates = stateMachine.getTransition(ActionGoal.GoalStates.ACTIVE);
assertEquals(nextStates.firstElement(), CommStateMachine.ClientStates.WAITING_FOR_GOAL_ACK);
}
}
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