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replace rcl_lifecycle_ret_t with lifecycle_msgs__TRANSITION__CALLBACK* (#153)

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This commit is contained in:
Karsten Knese 2017-08-02 14:05:03 -07:00 • committed by GitHub
parent 5cdef527de
commit 3cff9020d1
7 changed files with 94 additions and 96 deletions
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10
rcl_lifecycle/include/rcl_lifecycle/data_types.h
View file

@ -24,10 +24,7 @@ extern "C"
{ {
#endif #endif
typedef int rcl_lifecycle_ret_t; typedef uint8_t rcl_lifecycle_transition_key_t;
#define RCL_LIFECYCLE_RET_OK -1
#define RCL_LIFECYCLE_RET_FAILURE -2
#define RCL_LIFECYCLE_RET_ERROR -3
typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t; typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
@ -45,8 +42,7 @@ typedef struct rcl_lifecycle_state_t
// is "unconfigured_shutdown". However, the user only specifies // is "unconfigured_shutdown". However, the user only specifies
// "shutdown". So we register the "unconfigured_shutdown" // "shutdown". So we register the "unconfigured_shutdown"
// transition with the impuls "shutdown". // transition with the impuls "shutdown".
// TODO(karsten1987): Introduce new type for valid_transition_keys rcl_lifecycle_transition_key_t * valid_transition_keys;
rcl_lifecycle_ret_t * valid_transition_keys;
rcl_lifecycle_transition_t * valid_transitions; rcl_lifecycle_transition_t * valid_transitions;
unsigned int valid_transition_size; unsigned int valid_transition_size;
} rcl_lifecycle_state_t; } rcl_lifecycle_state_t;
@ -59,8 +55,6 @@ typedef struct rcl_lifecycle_transition_t
const rcl_lifecycle_state_t * goal; const rcl_lifecycle_state_t * goal;
} rcl_lifecycle_transition_t; } rcl_lifecycle_transition_t;
// TODO(karsten1987): Rename map as it is no
// associated array any longer
typedef struct rcl_lifecycle_transition_map_t typedef struct rcl_lifecycle_transition_map_t
{ {
rcl_lifecycle_state_t * states; rcl_lifecycle_state_t * states;

4
rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
View file

@ -62,7 +62,7 @@ RCL_WARN_UNUSED
const rcl_lifecycle_transition_t * const rcl_lifecycle_transition_t *
rcl_lifecycle_is_valid_callback_transition( rcl_lifecycle_is_valid_callback_transition(
rcl_lifecycle_state_machine_t * state_machine, rcl_lifecycle_state_machine_t * state_machine,
rcl_lifecycle_ret_t key); rcl_lifecycle_transition_key_t key);
/// Execute a transition /// Execute a transition
/* /*
@ -80,7 +80,7 @@ RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_lifecycle_trigger_transition( rcl_lifecycle_trigger_transition(
rcl_lifecycle_state_machine_t * state_machine, rcl_lifecycle_state_machine_t * state_machine,
rcl_lifecycle_ret_t key, bool publish_notification); rcl_lifecycle_transition_key_t key, bool publish_notification);
RCL_LIFECYCLE_PUBLIC RCL_LIFECYCLE_PUBLIC
void void

2
rcl_lifecycle/include/rcl_lifecycle/transition_map.h
View file

@ -57,7 +57,7 @@ rcl_ret_t
rcl_lifecycle_register_transition( rcl_lifecycle_register_transition(
rcl_lifecycle_transition_map_t * transition_map, rcl_lifecycle_transition_map_t * transition_map,
rcl_lifecycle_transition_t transition, rcl_lifecycle_transition_t transition,
rcl_lifecycle_ret_t key, rcl_lifecycle_transition_key_t key,
const rcl_allocator_t * allocator); const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC RCL_LIFECYCLE_PUBLIC

40
rcl_lifecycle/src/default_state_machine.c
View file

@ -32,6 +32,10 @@ extern "C"
{ {
#endif #endif
rcl_lifecycle_transition_key_t * empty_transition_key = NULL;
rcl_lifecycle_transition_t * empty_transition = NULL;
unsigned int empty_transition_size = 0;
// Primary States // Primary States
const rcl_lifecycle_state_t rcl_state_unknown = const rcl_lifecycle_state_t rcl_state_unknown =
{"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN, {"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN,
@ -235,7 +239,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_configure_success, rcl_transition_configure_success,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -243,7 +247,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_configure_failure, rcl_transition_configure_failure,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -251,7 +255,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_configure_error, rcl_transition_configure_error,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -269,7 +273,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_cleanup_success, rcl_transition_cleanup_success,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -277,7 +281,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_cleanup_failure, rcl_transition_cleanup_failure,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -285,7 +289,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_cleanup_error, rcl_transition_cleanup_error,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -303,7 +307,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_activate_success, rcl_transition_activate_success,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -311,7 +315,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_activate_failure, rcl_transition_activate_failure,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -319,7 +323,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_activate_error, rcl_transition_activate_error,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -337,7 +341,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_deactivate_success, rcl_transition_deactivate_success,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -345,7 +349,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_deactivate_failure, rcl_transition_deactivate_failure,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -353,7 +357,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_deactivate_error, rcl_transition_deactivate_error,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -387,7 +391,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_shutdown_success, rcl_transition_shutdown_success,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -395,7 +399,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_shutdown_failure, rcl_transition_shutdown_failure,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -403,7 +407,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_shutdown_error, rcl_transition_shutdown_error,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -413,7 +417,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_error_success, rcl_transition_error_success,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -421,7 +425,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_error_failure, rcl_transition_error_failure,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;
@ -429,7 +433,7 @@ rcl_lifecycle_init_default_state_machine(
ret = rcl_lifecycle_register_transition( ret = rcl_lifecycle_register_transition(
&state_machine->transition_map, &state_machine->transition_map,
rcl_transition_error_error, rcl_transition_error_error,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
allocator); allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
goto fail; goto fail;

4
rcl_lifecycle/src/rcl_lifecycle.c
View file

@ -139,7 +139,7 @@ rcl_lifecycle_state_machine_is_initialized(const rcl_lifecycle_state_machine_t *
const rcl_lifecycle_transition_t * const rcl_lifecycle_transition_t *
rcl_lifecycle_is_valid_transition( rcl_lifecycle_is_valid_transition(
rcl_lifecycle_state_machine_t * state_machine, rcl_lifecycle_state_machine_t * state_machine,
rcl_lifecycle_ret_t key) rcl_lifecycle_transition_key_t key)
{ {
unsigned int current_id = state_machine->current_state->id; unsigned int current_id = state_machine->current_state->id;
const rcl_lifecycle_state_t * current_state = rcl_lifecycle_get_state( const rcl_lifecycle_state_t * current_state = rcl_lifecycle_get_state(
@ -158,7 +158,7 @@ rcl_lifecycle_is_valid_transition(
rcl_ret_t rcl_ret_t
rcl_lifecycle_trigger_transition( rcl_lifecycle_trigger_transition(
rcl_lifecycle_state_machine_t * state_machine, rcl_lifecycle_state_machine_t * state_machine,
rcl_lifecycle_ret_t key, bool publish_notification) rcl_lifecycle_transition_key_t key, bool publish_notification)
{ {
const rcl_lifecycle_transition_t * transition = const rcl_lifecycle_transition_t * transition =
rcl_lifecycle_is_valid_transition(state_machine, key); rcl_lifecycle_is_valid_transition(state_machine, key);

6
rcl_lifecycle/src/transition_map.c
View file

@ -107,7 +107,7 @@ rcl_ret_t
rcl_lifecycle_register_transition( rcl_lifecycle_register_transition(
rcl_lifecycle_transition_map_t * transition_map, rcl_lifecycle_transition_map_t * transition_map,
rcl_lifecycle_transition_t transition, rcl_lifecycle_transition_t transition,
rcl_lifecycle_ret_t key, rcl_lifecycle_transition_key_t key,
const rcutils_allocator_t * allocator) const rcutils_allocator_t * allocator)
{ {
RCUTILS_CHECK_ALLOCATOR_WITH_MSG( RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
@ -154,9 +154,9 @@ rcl_lifecycle_register_transition(
} }
state->valid_transitions = new_valid_transitions; state->valid_transitions = new_valid_transitions;
rcl_lifecycle_ret_t * new_valid_transition_keys = allocator->reallocate( rcl_lifecycle_transition_key_t * new_valid_transition_keys = allocator->reallocate(
state->valid_transition_keys, state->valid_transition_keys,
state->valid_transition_size * sizeof(rcl_lifecycle_ret_t), state->valid_transition_size * sizeof(rcl_lifecycle_transition_key_t),
allocator->state); allocator->state);
if (!new_valid_transitions) { if (!new_valid_transitions) {
RCL_SET_ERROR_MSG( RCL_SET_ERROR_MSG(

124
rcl_lifecycle/test/test_default_state_machine.cpp
View file

@ -62,16 +62,16 @@ protected:
} }
}; };
std::vector<rcl_lifecycle_ret_t> keys = std::vector<rcl_lifecycle_transition_key_t> keys =
{ {
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE, lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE, lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP, lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN, lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
RCL_LIFECYCLE_RET_ERROR lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR
}; };
void void
@ -120,7 +120,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -132,7 +132,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -144,7 +144,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -156,7 +156,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -168,7 +168,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED); lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -205,9 +205,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING); lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
for (auto it = keys.begin(); it != keys.end(); ++it) { for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == RCL_LIFECYCLE_RET_OK || if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == RCL_LIFECYCLE_RET_FAILURE || *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == RCL_LIFECYCLE_RET_ERROR) {continue;} *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false)); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error(); rcl_reset_error();
@ -219,7 +219,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay inactive for all invalid { // supposed to stay inactive for all invalid
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -245,9 +245,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING); lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
for (auto it = keys.begin(); it != keys.end(); ++it) { for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == RCL_LIFECYCLE_RET_OK || if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == RCL_LIFECYCLE_RET_FAILURE || *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == RCL_LIFECYCLE_RET_ERROR) {continue;} *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false)); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error(); rcl_reset_error();
@ -259,7 +259,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay active for all invalid { // supposed to stay active for all invalid
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -283,9 +283,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING); lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
for (auto it = keys.begin(); it != keys.end(); ++it) { for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == RCL_LIFECYCLE_RET_OK || if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == RCL_LIFECYCLE_RET_FAILURE || *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == RCL_LIFECYCLE_RET_ERROR) {continue;} *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false)); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error(); rcl_reset_error();
@ -298,7 +298,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
// skip inactive, we tested that already // skip inactive, we tested that already
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition( test_trigger_transition(
@ -308,9 +308,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP); lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
for (auto it = keys.begin(); it != keys.end(); ++it) { for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == RCL_LIFECYCLE_RET_OK || if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == RCL_LIFECYCLE_RET_FAILURE || *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == RCL_LIFECYCLE_RET_ERROR) {continue;} *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false)); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error(); rcl_reset_error();
@ -322,7 +322,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay shutting down for all invalid { // supposed to stay shutting down for all invalid
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
// shutdown directly, since we tested already unconfigured // shutdown directly, since we tested already unconfigured
@ -333,9 +333,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN); lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
for (auto it = keys.begin(); it != keys.end(); ++it) { for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == RCL_LIFECYCLE_RET_OK || if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == RCL_LIFECYCLE_RET_FAILURE || *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == RCL_LIFECYCLE_RET_ERROR) {continue;} *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false)); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error(); rcl_reset_error();
@ -347,7 +347,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay finalized for all invalid { // supposed to stay finalized for all invalid
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED); lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -379,7 +379,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -391,7 +391,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -403,7 +403,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -415,7 +415,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
} }
@ -428,7 +428,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED); lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -451,7 +451,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -464,7 +464,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -476,7 +476,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -489,7 +489,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
test_trigger_transition( test_trigger_transition(
@ -500,7 +500,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -512,7 +512,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING); lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition( test_trigger_transition(
@ -522,7 +522,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP); lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -534,7 +534,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP); lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
test_trigger_transition( test_trigger_transition(
@ -544,7 +544,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN); lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED); lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -567,13 +567,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -586,7 +586,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -598,13 +598,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -617,7 +617,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -629,7 +629,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -640,13 +640,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING); lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -658,7 +658,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING); lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition( test_trigger_transition(
@ -668,13 +668,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP); lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -686,12 +686,12 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN); lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED); lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -716,13 +716,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_FAILURE, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED); lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -744,7 +744,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_OK, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE); lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -756,13 +756,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING); lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition( test_trigger_transition(
&state_machine, &state_machine,
RCL_LIFECYCLE_RET_ERROR, lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED); lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
} }