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update style to match latest uncrustify

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This commit is contained in:
Dirk Thomas 2017-09-28 10:27:37 -07:00
parent ef94e9f277
commit 72bcb6b5b6
17 changed files with 451 additions and 380 deletions
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12
rcl/include/rcl/time.h
View file

@ -399,8 +399,8 @@ rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
rcl_duration_t * delta);
rcl_difference_times(
rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta);
/// Fill the time point with the current value of the associated clock.
/**
@ -466,8 +466,8 @@ rcl_disable_ros_time_override(rcl_time_source_t * time_source);
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
bool * is_enabled);
rcl_is_enabled_ros_time_override(
rcl_time_source_t * time_source, bool * is_enabled);
/// Set the current time for this `RCL_ROS_TIME` time source.
/**
@ -485,8 +485,8 @@ rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_set_ros_time_override(rcl_time_source_t * time_source,
rcl_time_point_value_t time_value);
rcl_set_ros_time_override(
rcl_time_source_t * time_source, rcl_time_point_value_t time_value);
#if __cplusplus
}

2
rcl/src/rcl/rmw_implementation_identifier_check.c
View file

@ -35,7 +35,7 @@ extern "C"
#pragma section(".CRT$XCU", read)
#define INITIALIZER2_(f, p) \
static void f(void); \
__declspec(allocate(".CRT$XCU")) void(*f ## _)(void) = f; \
__declspec(allocate(".CRT$XCU")) void (*f ## _)(void) = f; \
__pragma(comment(linker, "/include:" p #f "_")) \
static void f(void)
#ifdef _WIN64

4
rcl/src/rcl/time.c
View file

@ -286,8 +286,8 @@ rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
}
rcl_ret_t
rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
rcl_duration_t * delta)
rcl_difference_times(
rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta)
{
if (start->time_source->type != finish->time_source->type) {
RCL_SET_ERROR_MSG(

21
rcl/test/memory_tools/test_memory_tools.cpp
View file

@ -20,19 +20,22 @@
*/
TEST(TestMemoryTools, test_allocation_checking_tools) {
size_t unexpected_mallocs = 0;
auto on_unexpected_malloc = ([&unexpected_mallocs]() {
unexpected_mallocs++;
});
auto on_unexpected_malloc = (
[&unexpected_mallocs]() {
unexpected_mallocs++;
});
set_on_unexpected_malloc_callback(on_unexpected_malloc);
size_t unexpected_reallocs = 0;
auto on_unexpected_realloc = ([&unexpected_reallocs]() {
unexpected_reallocs++;
});
auto on_unexpected_realloc = (
[&unexpected_reallocs]() {
unexpected_reallocs++;
});
set_on_unexpected_realloc_callback(on_unexpected_realloc);
size_t unexpected_frees = 0;
auto on_unexpected_free = ([&unexpected_frees]() {
unexpected_frees++;
});
auto on_unexpected_free = (
[&unexpected_frees]() {
unexpected_frees++;
});
set_on_unexpected_free_callback(on_unexpected_free);
void * mem = nullptr;
void * remem = nullptr;

39
rcl/test/rcl/client_fixture.cpp
View file

@ -66,12 +66,13 @@ wait_for_client_to_be_ready(
RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
return false;
}
auto wait_set_exit = make_scope_exit([&wait_set]() {
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
throw std::runtime_error("error while waiting for client");
}
});
auto wait_set_exit = make_scope_exit(
[&wait_set]() {
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
throw std::runtime_error("error while waiting for client");
}
});
size_t iteration = 0;
do {
++iteration;
@ -115,12 +116,13 @@ int main(int argc, char ** argv)
RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
return -1;
}
auto node_exit = make_scope_exit([&main_ret, &node]() {
if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
auto node_exit = make_scope_exit(
[&main_ret, &node]() {
if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
@ -134,12 +136,13 @@ int main(int argc, char ** argv)
return -1;
}
auto client_exit = make_scope_exit([&client, &main_ret, &node]() {
if (rcl_client_fini(&client, &node)) {
RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
auto client_exit = make_scope_exit(
[&client, &main_ret, &node]() {
if (rcl_client_fini(&client, &node)) {
RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
// Wait until server is available
if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) {

53
rcl/test/rcl/service_fixture.cpp
View file

@ -40,12 +40,13 @@ wait_for_service_to_be_ready(
RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
return false;
}
auto wait_set_exit = make_scope_exit([&wait_set]() {
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
throw std::runtime_error("error waiting for service to be ready");
}
});
auto wait_set_exit = make_scope_exit(
[&wait_set]() {
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
throw std::runtime_error("error waiting for service to be ready");
}
});
size_t iteration = 0;
do {
++iteration;
@ -89,12 +90,13 @@ int main(int argc, char ** argv)
RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
return -1;
}
auto node_exit = make_scope_exit([&main_ret, &node]() {
if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
auto node_exit = make_scope_exit(
[&main_ret, &node]() {
if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
@ -108,19 +110,21 @@ int main(int argc, char ** argv)
return -1;
}
auto service_exit = make_scope_exit([&main_ret, &service, &node]() {
if (rcl_service_fini(&service, &node)) {
RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
auto service_exit = make_scope_exit(
[&main_ret, &service, &node]() {
if (rcl_service_fini(&service, &node)) {
RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
main_ret = -1;
}
});
// Initialize a response.
example_interfaces__srv__AddTwoInts_Response service_response;
example_interfaces__srv__AddTwoInts_Response__init(&service_response);
auto response_exit = make_scope_exit([&service_response]() {
example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
});
auto response_exit = make_scope_exit(
[&service_response]() {
example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
});
// Block until a client request comes in.
@ -132,9 +136,10 @@ int main(int argc, char ** argv)
// Take the pending request.
example_interfaces__srv__AddTwoInts_Request service_request;
example_interfaces__srv__AddTwoInts_Request__init(&service_request);
auto request_exit = make_scope_exit([&service_request]() {
example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
});
auto request_exit = make_scope_exit(
[&service_request]() {
example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
});
rmw_request_id_t header;
// TODO(jacquelinekay) May have to check for timeout error codes
if (rcl_take_request(&service, &header, &service_request) != RCL_RET_OK) {

11
rcl/test/rcl/test_client.cpp
View file

@ -84,11 +84,12 @@ TEST_F(TestClientFixture, test_client_nominal) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), expected_topic_name), 0);
auto client_exit = make_scope_exit([&client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto client_exit = make_scope_exit(
[&client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// Initialize the client request.
example_interfaces__srv__AddTwoInts_Request req;

87
rcl/test/rcl/test_graph.cpp
View file

@ -421,38 +421,39 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
// Create a thread to sleep for a time, then create a publisher, sleep more, then a subscriber,
// sleep more, destroy the subscriber, sleep more, and then destroy the publisher.
std::promise<bool> topic_changes_promise;
std::thread topic_thread([this, &topic_changes_promise]() {
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// create the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// create the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// destroy the subscription
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// destroy the publication
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// notify that the thread is done
topic_changes_promise.set_value(true);
});
std::thread topic_thread(
[this, &topic_changes_promise]() {
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// create the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// create the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// destroy the subscription
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// destroy the publication
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// notify that the thread is done
topic_changes_promise.set_value(true);
});
// Wait for the graph state to change, expecting it to do so at least 4 times,
// once for each change in the topics thread.
const rcl_guard_condition_t * graph_guard_condition =
@ -493,11 +494,12 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto client_exit = make_scope_exit([&client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto client_exit = make_scope_exit(
[&client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// Check, knowing there is no service server (created by us at least).
bool is_available;
ret = rcl_service_server_is_available(this->node_ptr, &client, &is_available);
@ -561,11 +563,12 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto service_exit = make_scope_exit([&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto service_exit = make_scope_exit(
[&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// Wait for and then assert that it is available.
wait_for_service_state_to_change(true, is_available);
ASSERT_TRUE(is_available);

31
rcl/test/rcl/test_guard_condition.cpp
View file

@ -64,11 +64,12 @@ TEST_F(
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
// Setup automatic rcl_shutdown()
auto rcl_shutdown_exit = make_scope_exit([]() {
stop_memory_checking();
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
auto rcl_shutdown_exit = make_scope_exit(
[]() {
stop_memory_checking();
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
// Create a zero initialized guard_condition (but not initialized).
rcl_guard_condition_t zero_guard_condition = rcl_get_zero_initialized_guard_condition();
@ -79,11 +80,12 @@ TEST_F(
ret = rcl_guard_condition_init(&guard_condition, default_options);
ASSERT_EQ(RCL_RET_OK, ret);
// Setup automatic finalization of guard condition.
auto rcl_guard_condition_exit = make_scope_exit([&guard_condition]() {
stop_memory_checking();
rcl_ret_t ret = rcl_guard_condition_fini(&guard_condition);
EXPECT_EQ(RCL_RET_OK, ret);
});
auto rcl_guard_condition_exit = make_scope_exit(
[&guard_condition]() {
stop_memory_checking();
rcl_ret_t ret = rcl_guard_condition_fini(&guard_condition);
EXPECT_EQ(RCL_RET_OK, ret);
});
// Test rcl_guard_condition_get_options().
const rcl_guard_condition_options_t * actual_options;
@ -142,10 +144,11 @@ TEST_F(
// Initialize rcl with rcl_init().
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
auto rcl_shutdown_exit = make_scope_exit([]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
auto rcl_shutdown_exit = make_scope_exit(
[]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
// Try invalid arguments.
ret = rcl_guard_condition_init(nullptr, default_options);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << "Expected RCL_RET_INVALID_ARGUMENT";

60
rcl/test/rcl/test_node.cpp
View file

@ -88,31 +88,34 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
// This is the normal check (not windows and windows if not opensplice)
ASSERT_EQ(RCL_RET_OK, ret);
}
auto rcl_invalid_node_exit = make_scope_exit([&invalid_node]() {
stop_memory_checking();
rcl_ret_t ret = rcl_node_fini(&invalid_node);
EXPECT_EQ(RCL_RET_OK, ret);
});
auto rcl_invalid_node_exit = make_scope_exit(
[&invalid_node]() {
stop_memory_checking();
rcl_ret_t ret = rcl_node_fini(&invalid_node);
EXPECT_EQ(RCL_RET_OK, ret);
});
ret = rcl_shutdown(); // Shutdown to invalidate the node.
ASSERT_EQ(RCL_RET_OK, ret);
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
auto rcl_shutdown_exit = make_scope_exit([]() {
stop_memory_checking();
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
auto rcl_shutdown_exit = make_scope_exit(
[]() {
stop_memory_checking();
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
// Create a zero init node.
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// Create a normal node.
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, namespace_, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
auto rcl_node_exit = make_scope_exit([&node]() {
stop_memory_checking();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
});
auto rcl_node_exit = make_scope_exit(
[&node]() {
stop_memory_checking();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
});
// Test rcl_node_is_valid().
bool is_valid;
is_valid = rcl_node_is_valid(nullptr);
@ -311,10 +314,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
// Initialize rcl with rcl_init().
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
auto rcl_shutdown_exit = make_scope_exit([]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
auto rcl_shutdown_exit = make_scope_exit(
[]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
// Try invalid arguments.
ret = rcl_node_init(nullptr, name, namespace_, &default_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
@ -401,10 +405,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restri
// Initialize rcl with rcl_init().
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
auto rcl_shutdown_exit = make_scope_exit([]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
auto rcl_shutdown_exit = make_scope_exit(
[]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
const char * namespace_ = "/ns";
rcl_node_options_t default_options = rcl_node_get_default_options();
@ -461,10 +466,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_r
// Initialize rcl with rcl_init().
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
auto rcl_shutdown_exit = make_scope_exit([]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
auto rcl_shutdown_exit = make_scope_exit(
[]() {
rcl_ret_t ret = rcl_shutdown();
ASSERT_EQ(RCL_RET_OK, ret);
});
const char * name = "node";
rcl_node_options_t default_options = rcl_node_get_default_options();

22
rcl/test/rcl/test_publisher.cpp
View file

@ -93,11 +93,12 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto publisher_exit = make_scope_exit(
[&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
@ -118,11 +119,12 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto publisher_exit = make_scope_exit(
[&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
std_msgs__msg__String msg;
std_msgs__msg__String__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, "testing"));

42
rcl/test/rcl/test_service.cpp
View file

@ -84,11 +84,12 @@ wait_for_service_to_be_ready(
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto wait_set_exit = make_scope_exit([&wait_set]() {
stop_memory_checking();
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto wait_set_exit = make_scope_exit(
[&wait_set]() {
stop_memory_checking();
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
size_t iteration = 0;
do {
++iteration;
@ -128,21 +129,23 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// Check that the service name matches what we assigned.
EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), expected_topic), 0);
auto service_exit = make_scope_exit([&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto service_exit = make_scope_exit(
[&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, topic, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto client_exit = make_scope_exit([&client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto client_exit = make_scope_exit(
[&client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// TODO(wjwwood): add logic to wait for the connection to be established
@ -171,10 +174,11 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// Initialize a response.
example_interfaces__srv__AddTwoInts_Response service_response;
example_interfaces__srv__AddTwoInts_Response__init(&service_response);
auto msg_exit = make_scope_exit([&service_response]() {
stop_memory_checking();
example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
});
auto msg_exit = make_scope_exit(
[&service_response]() {
stop_memory_checking();
example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
});
// Initialize a separate instance of the request and take the pending request.
example_interfaces__srv__AddTwoInts_Request service_request;

73
rcl/test/rcl/test_subscription.cpp
View file

@ -85,11 +85,12 @@ wait_for_subscription_to_be_ready(
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto wait_set_exit = make_scope_exit([&wait_set]() {
stop_memory_checking();
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto wait_set_exit = make_scope_exit(
[&wait_set]() {
stop_memory_checking();
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
size_t iteration = 0;
do {
++iteration;
@ -134,20 +135,22 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto publisher_exit = make_scope_exit(
[&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto subscription_exit = make_scope_exit([&subscription, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto subscription_exit = make_scope_exit(
[&subscription, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), expected_topic), 0);
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
@ -167,10 +170,11 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
{
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
auto msg_exit = make_scope_exit([&msg]() {
stop_memory_checking();
std_msgs__msg__Int64__fini(&msg);
});
auto msg_exit = make_scope_exit(
[&msg]() {
stop_memory_checking();
std_msgs__msg__Int64__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ASSERT_EQ(42, msg.data);
@ -188,20 +192,22 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto publisher_exit = make_scope_exit(
[&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto subscription_exit = make_scope_exit([&subscription, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto subscription_exit = make_scope_exit(
[&subscription, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
@ -221,10 +227,11 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
{
std_msgs__msg__String msg;
std_msgs__msg__String__init(&msg);
auto msg_exit = make_scope_exit([&msg]() {
stop_memory_checking();
std_msgs__msg__String__fini(&msg);
});
auto msg_exit = make_scope_exit(
[&msg]() {
stop_memory_checking();
std_msgs__msg__String__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ASSERT_EQ(std::string(test_string), std::string(msg.data.data, msg.data.size));

96
rcl/test/rcl/test_wait.cpp
View file

@ -109,14 +109,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
ret = rcl_wait_set_add_timer(&wait_set, &timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &timer]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto scope_exit = make_scope_exit(
[&guard_cond, &wait_set, &timer]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
int64_t timeout = -1;
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@ -142,12 +143,13 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit([&guard_cond, &wait_set]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto scope_exit = make_scope_exit(
[&guard_cond, &wait_set]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// Time spent during wait should be negligible.
int64_t timeout = 0;
@ -181,14 +183,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &canceled_timer]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_timer_fini(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto scope_exit = make_scope_exit(
[&guard_cond, &wait_set, &canceled_timer]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_timer_fini(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
int64_t timeout = RCL_MS_TO_NS(10);
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@ -292,14 +295,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
test_set.thread_id = 0;
}
// Setup safe tear-down.
auto scope_exit = make_scope_exit([&test_sets]() {
for (auto & test_set : test_sets) {
rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&test_set.wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
});
auto scope_exit = make_scope_exit(
[&test_sets]() {
for (auto & test_set : test_sets) {
rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&test_set.wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
});
// Now kick off all the threads.
size_t thread_enumeration = 0;
for (auto & test_set : test_sets) {
@ -349,27 +353,29 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit([&wait_set, &guard_cond]() {
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto scope_exit = make_scope_exit(
[&wait_set, &guard_cond]() {
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
std::promise<rcl_ret_t> p;
int64_t timeout = -1;
std::chrono::nanoseconds trigger_diff;
std::thread trigger_thread([&p, &guard_cond, &trigger_diff]() {
std::chrono::steady_clock::time_point before_trigger = std::chrono::steady_clock::now();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
rcl_ret_t ret = rcl_trigger_guard_condition(&guard_cond);
std::chrono::steady_clock::time_point after_trigger = std::chrono::steady_clock::now();
trigger_diff = std::chrono::duration_cast<std::chrono::nanoseconds>(
after_trigger - before_trigger);
p.set_value(ret);
});
std::thread trigger_thread(
[&p, &guard_cond, &trigger_diff]() {
std::chrono::steady_clock::time_point before_trigger = std::chrono::steady_clock::now();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
rcl_ret_t ret = rcl_trigger_guard_condition(&guard_cond);
std::chrono::steady_clock::time_point after_trigger = std::chrono::steady_clock::now();
trigger_diff = std::chrono::duration_cast<std::chrono::nanoseconds>(
after_trigger - before_trigger);
p.set_value(ret);
});
auto f = p.get_future();
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();

4
rcl/test/scope_exit.hpp
View file

@ -22,7 +22,7 @@ struct ScopeExit
{
explicit ScopeExit(Callable callable)
: callable_(callable) {}
~ScopeExit() {callable_(); }
~ScopeExit() {callable_();}
private:
Callable callable_;
@ -35,6 +35,6 @@ make_scope_exit(Callable callable)
return ScopeExit<Callable>(callable);
}
#define SCOPE_EXIT(code) make_scope_exit([&]() {code; })
#define SCOPE_EXIT(code) make_scope_exit([&]() {code;})
#endif // SCOPE_EXIT_HPP_

33
rcl/test/test_namespace.cpp
View file

@ -86,22 +86,24 @@ TEST_F(TestNamespaceFixture, test_client_server) {
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto service_exit = make_scope_exit([&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto service_exit = make_scope_exit(
[&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
rcl_client_t unmatched_client = rcl_get_zero_initialized_client();
rcl_client_options_t unmatched_client_options = rcl_client_get_default_options();
ret = rcl_client_init(
&unmatched_client, this->node_ptr, ts, unmatched_client_name, &unmatched_client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto unmatched_client_exit = make_scope_exit([&unmatched_client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&unmatched_client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto unmatched_client_exit = make_scope_exit(
[&unmatched_client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&unmatched_client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
bool is_available = false;
for (auto i = 0; i < timeout; ++i) {
@ -119,11 +121,12 @@ TEST_F(TestNamespaceFixture, test_client_server) {
ret = rcl_client_init(
&matched_client, this->node_ptr, ts, matched_client_name, &matched_client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto matched_client_exit = make_scope_exit([&matched_client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&matched_client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
auto matched_client_exit = make_scope_exit(
[&matched_client, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_client_fini(&matched_client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
is_available = false;
for (auto i = 0; i < timeout; ++i) {

241
rcl_lifecycle/src/default_state_machine.c
View file

@ -37,122 +37,147 @@ rcl_lifecycle_transition_t * empty_transition = NULL;
unsigned int empty_transition_size = 0;
// Primary States
const rcl_lifecycle_state_t rcl_state_unknown =
{"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_unconfigured =
{"unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_inactive =
{"inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_active =
{"active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_finalized =
{"finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_unknown = {
"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_unconfigured = {
"unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_inactive = {
"inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_active = {
"active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_finalized = {
"finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED, NULL, NULL, 0
};
// Transition States
const rcl_lifecycle_state_t rcl_state_configuring =
{"configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_cleaningup =
{"cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_shuttingdown =
{"shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_activating =
{"activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_deactivating =
{"deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_errorprocessing =
{"errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
NULL, NULL, 0};
const rcl_lifecycle_state_t rcl_state_configuring = {
"configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_cleaningup = {
"cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_shuttingdown = {
"shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_activating = {
"activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_deactivating = {
"deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, NULL, NULL, 0
};
const rcl_lifecycle_state_t rcl_state_errorprocessing = {
"errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, NULL, NULL, 0
};
// Transitions
const rcl_lifecycle_transition_t rcl_transition_configure =
{"configure", lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
&rcl_state_unconfigured, &rcl_state_configuring};
const rcl_lifecycle_transition_t rcl_transition_configure_success =
{"configure_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
&rcl_state_configuring, &rcl_state_inactive};
const rcl_lifecycle_transition_t rcl_transition_configure_failure =
{"configure_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
&rcl_state_configuring, &rcl_state_unconfigured};
const rcl_lifecycle_transition_t rcl_transition_configure_error =
{"configure_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
&rcl_state_configuring, &rcl_state_errorprocessing};
const rcl_lifecycle_transition_t rcl_transition_configure = {
"configure", lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
&rcl_state_unconfigured, &rcl_state_configuring
};
const rcl_lifecycle_transition_t rcl_transition_configure_success = {
"configure_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
&rcl_state_configuring, &rcl_state_inactive
};
const rcl_lifecycle_transition_t rcl_transition_configure_failure = {
"configure_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
&rcl_state_configuring, &rcl_state_unconfigured
};
const rcl_lifecycle_transition_t rcl_transition_configure_error = {
"configure_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
&rcl_state_configuring, &rcl_state_errorprocessing
};
const rcl_lifecycle_transition_t rcl_transition_cleanup =
{"cleanup", lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
&rcl_state_inactive, &rcl_state_cleaningup};
const rcl_lifecycle_transition_t rcl_transition_cleanup_success =
{"cleanup_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
&rcl_state_cleaningup, &rcl_state_unconfigured};
const rcl_lifecycle_transition_t rcl_transition_cleanup_failure =
{"cleanup_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
&rcl_state_cleaningup, &rcl_state_inactive};
const rcl_lifecycle_transition_t rcl_transition_cleanup_error =
{"cleanup_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
&rcl_state_cleaningup, &rcl_state_errorprocessing};
const rcl_lifecycle_transition_t rcl_transition_cleanup = {
"cleanup", lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
&rcl_state_inactive, &rcl_state_cleaningup
};
const rcl_lifecycle_transition_t rcl_transition_cleanup_success = {
"cleanup_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
&rcl_state_cleaningup, &rcl_state_unconfigured
};
const rcl_lifecycle_transition_t rcl_transition_cleanup_failure = {
"cleanup_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
&rcl_state_cleaningup, &rcl_state_inactive
};
const rcl_lifecycle_transition_t rcl_transition_cleanup_error = {
"cleanup_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
&rcl_state_cleaningup, &rcl_state_errorprocessing
};
const rcl_lifecycle_transition_t rcl_transition_activate =
{"activate", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
&rcl_state_inactive, &rcl_state_activating};
const rcl_lifecycle_transition_t rcl_transition_activate_success =
{"activate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
&rcl_state_activating, &rcl_state_active};
const rcl_lifecycle_transition_t rcl_transition_activate_failure =
{"activate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
&rcl_state_activating, &rcl_state_inactive};
const rcl_lifecycle_transition_t rcl_transition_activate_error =
{"activate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
&rcl_state_activating, &rcl_state_errorprocessing};
const rcl_lifecycle_transition_t rcl_transition_activate = {
"activate", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
&rcl_state_inactive, &rcl_state_activating
};
const rcl_lifecycle_transition_t rcl_transition_activate_success = {
"activate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
&rcl_state_activating, &rcl_state_active
};
const rcl_lifecycle_transition_t rcl_transition_activate_failure = {
"activate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
&rcl_state_activating, &rcl_state_inactive
};
const rcl_lifecycle_transition_t rcl_transition_activate_error = {
"activate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
&rcl_state_activating, &rcl_state_errorprocessing
};
const rcl_lifecycle_transition_t rcl_transition_deactivate =
{"deactivate", lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
&rcl_state_active, &rcl_state_deactivating};
const rcl_lifecycle_transition_t rcl_transition_deactivate_success =
{"deactivate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
&rcl_state_deactivating, &rcl_state_inactive};
const rcl_lifecycle_transition_t rcl_transition_deactivate_failure =
{"deactivate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
&rcl_state_deactivating, &rcl_state_active};
const rcl_lifecycle_transition_t rcl_transition_deactivate_error =
{"deactivate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
&rcl_state_deactivating, &rcl_state_errorprocessing};
const rcl_lifecycle_transition_t rcl_transition_deactivate = {
"deactivate", lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
&rcl_state_active, &rcl_state_deactivating
};
const rcl_lifecycle_transition_t rcl_transition_deactivate_success = {
"deactivate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
&rcl_state_deactivating, &rcl_state_inactive
};
const rcl_lifecycle_transition_t rcl_transition_deactivate_failure = {
"deactivate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
&rcl_state_deactivating, &rcl_state_active
};
const rcl_lifecycle_transition_t rcl_transition_deactivate_error = {
"deactivate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
&rcl_state_deactivating, &rcl_state_errorprocessing
};
const rcl_lifecycle_transition_t rcl_transition_unconfigured_shutdown =
{"unconfigured_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
&rcl_state_unconfigured, &rcl_state_shuttingdown};
const rcl_lifecycle_transition_t rcl_transition_inactive_shutdown =
{"inactive_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
&rcl_state_inactive, &rcl_state_shuttingdown};
const rcl_lifecycle_transition_t rcl_transition_active_shutdown =
{"active_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
&rcl_state_active, &rcl_state_shuttingdown};
const rcl_lifecycle_transition_t rcl_transition_shutdown_success =
{"shutdown_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
&rcl_state_shuttingdown, &rcl_state_finalized};
const rcl_lifecycle_transition_t rcl_transition_shutdown_failure =
{"shutdown_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
&rcl_state_shuttingdown, &rcl_state_finalized};
const rcl_lifecycle_transition_t rcl_transition_shutdown_error =
{"shutdown_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
&rcl_state_shuttingdown, &rcl_state_errorprocessing};
const rcl_lifecycle_transition_t rcl_transition_unconfigured_shutdown = {
"unconfigured_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
&rcl_state_unconfigured, &rcl_state_shuttingdown
};
const rcl_lifecycle_transition_t rcl_transition_inactive_shutdown = {
"inactive_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
&rcl_state_inactive, &rcl_state_shuttingdown
};
const rcl_lifecycle_transition_t rcl_transition_active_shutdown = {
"active_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
&rcl_state_active, &rcl_state_shuttingdown
};
const rcl_lifecycle_transition_t rcl_transition_shutdown_success = {
"shutdown_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
&rcl_state_shuttingdown, &rcl_state_finalized
};
const rcl_lifecycle_transition_t rcl_transition_shutdown_failure = {
"shutdown_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
&rcl_state_shuttingdown, &rcl_state_finalized
};
const rcl_lifecycle_transition_t rcl_transition_shutdown_error = {
"shutdown_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
&rcl_state_shuttingdown, &rcl_state_errorprocessing
};
const rcl_lifecycle_transition_t rcl_transition_error_success =
{"errorprocessing_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
&rcl_state_errorprocessing, &rcl_state_unconfigured};
const rcl_lifecycle_transition_t rcl_transition_error_failure =
{"errorprocessing_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
&rcl_state_errorprocessing, &rcl_state_finalized};
const rcl_lifecycle_transition_t rcl_transition_error_error =
{"errorprocessing_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
&rcl_state_errorprocessing, &rcl_state_finalized};
const rcl_lifecycle_transition_t rcl_transition_error_success = {
"errorprocessing_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
&rcl_state_errorprocessing, &rcl_state_unconfigured
};
const rcl_lifecycle_transition_t rcl_transition_error_failure = {
"errorprocessing_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
&rcl_state_errorprocessing, &rcl_state_finalized
};
const rcl_lifecycle_transition_t rcl_transition_error_error = {
"errorprocessing_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
&rcl_state_errorprocessing, &rcl_state_finalized
};
// default implementation as despicted on
// design.ros2.org