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use macros

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This commit is contained in:
Mikael Arguedas 2017-08-09 12:02:06 -07:00
parent 3cff9020d1
commit 835a90761c
13 changed files with 133 additions and 94 deletions
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23
rcl_lifecycle/src/rcl_lifecycle.c
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@ -150,7 +150,9 @@ rcl_lifecycle_is_valid_transition(
return &current_state->valid_transitions[i];
}
}
RCUTILS_LOG_WARN("No callback transition matching %d found for current state %s",
RCUTILS_LOG_WARN_NAMED(
"rcl_lifecycle",
"No callback transition matching %d found for current state %s",
key, state_machine->current_state->label)
return NULL;
}
@ -165,14 +167,17 @@ rcl_lifecycle_trigger_transition(
// If we have a faulty transition pointer
if (!transition) {
RCUTILS_LOG_ERROR("No transition found for node %s with key %d",
RCUTILS_LOG_ERROR_NAMED(
"rcl_lifecycle",
"No transition found for node %s with key %d",
state_machine->current_state->label, key)
RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!transition->goal) {
RCUTILS_LOG_ERROR("No valid goal is set")
RCUTILS_LOG_ERROR_NAMED(
"rcl_lifecycle", "No valid goal is set")
}
state_machine->current_state = transition->goal;
if (publish_notification) {
@ -193,13 +198,17 @@ rcl_print_state_machine(const rcl_lifecycle_state_machine_t * state_machine)
{
const rcl_lifecycle_transition_map_t * map = &state_machine->transition_map;
for (size_t i = 0; i < map->states_size; ++i) {
printf("Primary State: %s(%u)\n", map->states[i].label, map->states[i].id);
printf("# of valid transitions: %u\n", map->states[i].valid_transition_size);
RCUTILS_LOG_INFO_NAMED(
"rcl_lifecycle",
"Primary State: %s(%u)\n# of valid transitions: %u",
map->states[i].label, map->states[i].id,
map->states[i].valid_transition_size
)
for (size_t j = 0; j < map->states[i].valid_transition_size; ++j) {
printf("\tNode %s: Key %d: Transition: %s\n",
RCUTILS_LOG_INFO("\tNode %s: Key %d: Transition: %s",
map->states[i].label,
map->states[i].valid_transition_keys[j],
map->states[i].valid_transitions[j].label);
map->states[i].valid_transitions[j].label)
}
}
}