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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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13 changed files with 933 additions and 659 deletions
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21
rcl_lifecycle/src/transition_map.c
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@ -55,11 +55,6 @@ rcl_lifecycle_transition_map_fini(
{
rcl_ret_t fcn_ret = RCL_RET_OK;
// for each state free the allocations for their keys/transitions
for (unsigned int i = 0; i < transition_map->states_size; ++i) {
allocator->deallocate(transition_map->states[i].valid_transition_keys, allocator->state);
allocator->deallocate(transition_map->states[i].valid_transitions, allocator->state);
}
// free the primary states
allocator->deallocate(transition_map->states, allocator->state);
transition_map->states = NULL;
@ -106,7 +101,6 @@ 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 rcutils_allocator_t * allocator)
{
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
@ -135,7 +129,6 @@ rcl_lifecycle_register_transition(
// finally set the new transition to the end of the array
transition_map->transitions[transition_map->transitions_size - 1] = transition;
// connect transition to state key
// we have to copy the transitons here once more to the actual state
// as we can't assign only the pointer. This pointer gets invalidated whenever
// we add a new transition and re-shuffle/re-allocate new memory for it.
@ -152,20 +145,6 @@ rcl_lifecycle_register_transition(
}
state->valid_transitions = new_valid_transitions;
rcl_lifecycle_transition_key_t * new_valid_transition_keys = allocator->reallocate(
state->valid_transition_keys,
state->valid_transition_size * sizeof(rcl_lifecycle_transition_key_t),
allocator->state);
if (!new_valid_transitions) {
RCL_SET_ERROR_MSG(
"failed to reallocate memory for new transitions keys on state",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
state->valid_transition_keys = new_valid_transition_keys;
// assign key
state->valid_transition_keys[state->valid_transition_size - 1] = key;
state->valid_transitions[state->valid_transition_size - 1] = transition;
return RCL_RET_OK;