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Lifecycle refactor (#298)

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* 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
This commit is contained in:
Karsten Knese 2018-10-11 14:03:41 -07:00 • committed by GitHub
parent 9d4b1c9912
commit 5e3d4be720
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GPG key ID: 4AEE18F83AFDEB23
13 changed files with 933 additions and 659 deletions
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29
rcl_lifecycle/src/com_interface.c
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@ -42,6 +42,7 @@ static const char * srv_change_state_service = "~/change_state";
static const char * srv_get_state_service = "~/get_state";
static const char * srv_get_available_states_service = "~/get_available_states";
static const char * srv_get_available_transitions_service = "~/get_available_transitions";
static const char * srv_get_transition_graph = "~/get_transition_graph";
rcl_lifecycle_com_interface_t
rcl_lifecycle_get_zero_initialized_com_interface()
@ -53,6 +54,7 @@ rcl_lifecycle_get_zero_initialized_com_interface()
com_interface.srv_get_state = rcl_get_zero_initialized_service();
com_interface.srv_get_available_states = rcl_get_zero_initialized_service();
com_interface.srv_get_available_transitions = rcl_get_zero_initialized_service();
com_interface.srv_get_transition_graph = rcl_get_zero_initialized_service();
return com_interface;
}
@ -65,6 +67,7 @@ rcl_lifecycle_com_interface_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,
const rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator())
@ -77,6 +80,8 @@ rcl_lifecycle_com_interface_init(
ts_srv_get_available_states, RCL_RET_INVALID_ARGUMENT, *allocator)
RCL_CHECK_ARGUMENT_FOR_NULL(
ts_srv_get_available_transitions, RCL_RET_INVALID_ARGUMENT, *allocator)
RCL_CHECK_ARGUMENT_FOR_NULL(
ts_srv_get_transition_graph, RCL_RET_INVALID_ARGUMENT, *allocator)
// initialize publisher
{
@ -141,6 +146,17 @@ rcl_lifecycle_com_interface_init(
}
}
// initialize get transition graph service
{
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
&com_interface->srv_get_transition_graph, node_handle,
ts_srv_get_transition_graph, srv_get_transition_graph, &service_options);
if (ret != RCL_RET_OK) {
goto fail;
}
}
return RCL_RET_OK;
fail:
@ -160,6 +176,10 @@ fail:
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service");
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_transition_graph, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_transition_graph service");
}
return RCL_RET_ERROR;
}
@ -171,6 +191,15 @@ rcl_lifecycle_com_interface_fini(
{
rcl_ret_t fcn_ret = RCL_RET_OK;
// destroy get transition graph srv
{
rcl_ret_t ret = rcl_service_fini(
&com_interface->srv_get_transition_graph, node_handle);
if (ret != RCL_RET_OK) {
fcn_ret = RCL_RET_ERROR;
}
}
// destroy get available transitions srv
{
rcl_ret_t ret = rcl_service_fini(