Lifecycle refactor (#298)

* no static initialization of states anymore

* make transition labels more descriptive

* introduce labeled keys

* define default transition keys

* fix memory management

* introduce service for transition graph

* export transition keys

* remove keys, transition id unique, label ambiguous

* semicolon for macro call

rcl_lifecycle/include/rcl_lifecycle/data_types.h

@@ -24,8 +24,6 @@ extern "C"
 {
 #endif
 
-typedef uint8_t rcl_lifecycle_transition_key_t;
-
 typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
 
 typedef struct rcl_lifecycle_state_t
@@ -33,16 +31,6 @@ typedef struct rcl_lifecycle_state_t
   const char * label;
   unsigned int id;
 
-  // a valid key is a generic identifier for deciding
-  // which transitions to trigger.
-  // This serves the purpose of hiding a unique ID from
-  // users prospective.
-  // e.g. shutdown
-  // the concrete transition for the state "unconfigured"
-  // is "unconfigured_shutdown". However, the user only specifies
-  // "shutdown". So we register the "unconfigured_shutdown"
-  // transition with the impuls "shutdown".
-  rcl_lifecycle_transition_key_t * valid_transition_keys;
   rcl_lifecycle_transition_t * valid_transitions;
   unsigned int valid_transition_size;
 } rcl_lifecycle_state_t;
@@ -71,6 +59,7 @@ typedef struct rcl_lifecycle_com_interface_t
   rcl_service_t srv_get_state;
   rcl_service_t srv_get_available_states;
   rcl_service_t srv_get_available_transitions;
+  rcl_service_t srv_get_transition_graph;
 } rcl_lifecycle_com_interface_t;
 
 typedef struct rcl_lifecycle_state_machine_t

rcl_lifecycle/include/rcl_lifecycle/default_state_machine.h

@@ -0,0 +1,49 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_
+#define RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_
+
+#include "rcl/macros.h"
+#include "rcl/types.h"
+
+#include "rcl_lifecycle/data_types.h"
+#include "rcl_lifecycle/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_configure_label;
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_cleanup_label;
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_activate_label;
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_deactivate_label;
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_shutdown_label;
+
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_success_label;
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_failure_label;
+RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_error_label;
+
+RCL_LIFECYCLE_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_lifecycle_init_default_state_machine(
+  rcl_lifecycle_state_machine_t * state_machine, const rcl_allocator_t * allocator);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_

rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h

@@ -23,6 +23,7 @@ extern "C"
 #include <stdbool.h>
 
 #include "rcl_lifecycle/data_types.h"
+#include "rcl_lifecycle/default_state_machine.h"
 #include "rcl_lifecycle/visibility_control.h"
 
 RCL_LIFECYCLE_PUBLIC
@@ -89,6 +90,7 @@ rcl_lifecycle_state_machine_init(
   const rosidl_service_type_support_t * ts_srv_get_state,
   const rosidl_service_type_support_t * ts_srv_get_available_states,
   const rosidl_service_type_support_t * ts_srv_get_available_transitions,
+  const rosidl_service_type_support_t * ts_srv_get_transition_graph,
   bool default_states,
   const rcl_allocator_t * allocator);
 
@@ -109,27 +111,32 @@ rcl_lifecycle_state_machine_is_initialized(
 RCL_LIFECYCLE_PUBLIC
 RCL_WARN_UNUSED
 const rcl_lifecycle_transition_t *
-rcl_lifecycle_is_valid_callback_transition(
-  rcl_lifecycle_state_machine_t * state_machine,
-  rcl_lifecycle_transition_key_t key);
+rcl_lifecycle_get_transition_by_id(
+  const rcl_lifecycle_state_t * state,
+  uint8_t id);
+
+RCL_LIFECYCLE_PUBLIC
+RCL_WARN_UNUSED
+const rcl_lifecycle_transition_t *
+rcl_lifecycle_get_transition_by_label(
+  const rcl_lifecycle_state_t * state,
+  const char * label);
 
-/// Execute a transition
-/*
- * Important note for \param key here:
- * This is meant as feedback from the high level
- * callback associated with this transition.
- * The key is the index for the valid transitions
- * associated with the current state.
- * This key may either be a valid external stimuli
- * such as "configure" or direct return codes from
- * callbacks such as RCL_LIFECYCLE_RET_OK et. al.
- */
 RCL_LIFECYCLE_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_lifecycle_trigger_transition(
+rcl_lifecycle_trigger_transition_by_id(
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_lifecycle_transition_key_t key, bool publish_notification);
+  uint8_t id,
+  bool publish_notification);
+
+RCL_LIFECYCLE_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_lifecycle_trigger_transition_by_label(
+  rcl_lifecycle_state_machine_t * state_machine,
+  const char * label,
+  bool publish_notification);
 
 RCL_LIFECYCLE_PUBLIC
 void

rcl_lifecycle/include/rcl_lifecycle/transition_map.h

@@ -57,7 +57,6 @@ rcl_ret_t
 rcl_lifecycle_register_transition(
   rcl_lifecycle_transition_map_t * transition_map,
   rcl_lifecycle_transition_t transition,
-  rcl_lifecycle_transition_key_t key,
   const rcl_allocator_t * allocator);
 
 RCL_LIFECYCLE_PUBLIC