add rcl lifecycle
* (refactor) add rcl_lifecycle package * (refactor) cleanup free calls * (fix) initialize state machine with external node handle * (dev) use external typesupport * (fix) use external typesupport * (fix) cleanup states * (fix) no pointer comparison in state machine * (test) refactor for rcl testing purpose * (test) test suite for lifecycle sequence * (dev) change to rcl_ret_t * (test) wrong transition test * (fix) dependency for isolated build * (clean) remove std_msgs as a dep * (fix) enable correct visibility control * (fix) correct test for initialization * (fix) correct visibility attributes * (dev) change default value to lifecycle_msgs * (clean) style and lifecycle prefix * (dev) cmake macro get_rcl_lifecycle_information * (cleanup) remove unused files' * (cleanup) remove callback pointer * (debug) add print state machine function * (review) address review comments * (bugfix) correct export in information.cmake * (fix) correct visibility control * (vcs) fix convertion from size_t to unsigned int * (typo) fix internal struct name * const correctness * get_available_states service * new service msgs * tes for multiple instances * (dev) return codes * initial refactor * test default sequence * refactor state machine * apply upstream changes * c++14 * disable state machine print * address review comments * uncrustify * fix comparison with unsigned warning
This commit is contained in:
Karsten Knese
GitHub
parent
4590fc5f77
commit
a18ef97e5a
17 changed files with 2357 additions and 0 deletions
93
rcl_lifecycle/include/rcl_lifecycle/data_types.h
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93
rcl_lifecycle/include/rcl_lifecycle/data_types.h
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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_LIFECYCLE__DATA_TYPES_H_
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#define RCL_LIFECYCLE__DATA_TYPES_H_
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#include <rcl/rcl.h>
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#include "rcl_lifecycle/visibility_control.h"
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#if __cplusplus
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extern "C"
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{
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#endif
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typedef int rcl_lifecycle_ret_t;
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#define RCL_LIFECYCLE_RET_OK -1
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#define RCL_LIFECYCLE_RET_FAILURE -2
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#define RCL_LIFECYCLE_RET_ERROR -3
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typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
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typedef struct rcl_lifecycle_state_t
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{
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const char * label;
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unsigned int id;
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// a valid key is a generic identifier for deciding
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// which transitions to trigger.
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// This serves the purpose of hiding a unique ID from
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// users prospective.
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// e.g. shutdown
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// the concrete transition for the state "unconfigured"
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// is "unconfigured_shutdown". However, the user only specifies
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// "shutdown". So we register the "unconfigured_shutdown"
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// transition with the impuls "shutdown".
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rcl_lifecycle_ret_t * valid_transition_keys;
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rcl_lifecycle_transition_t * valid_transitions;
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unsigned int valid_transition_size;
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} rcl_lifecycle_state_t;
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typedef struct rcl_lifecycle_transition_t
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{
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const char * label;
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unsigned int id;
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const rcl_lifecycle_state_t * start;
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const rcl_lifecycle_state_t * goal;
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} rcl_lifecycle_transition_t;
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// TODO(karsten1987): Rename map as it is no
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// associated array any longer
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typedef struct rcl_lifecycle_transition_map_t
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{
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rcl_lifecycle_state_t * states;
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unsigned int states_size;
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rcl_lifecycle_transition_t * transitions;
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unsigned int transitions_size;
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} rcl_lifecycle_transition_map_t;
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typedef struct rcl_lifecycle_com_interface_t
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{
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rcl_node_t * node_handle;
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rcl_publisher_t pub_transition_event;
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rcl_service_t srv_change_state;
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rcl_service_t srv_get_state;
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rcl_service_t srv_get_available_states;
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rcl_service_t srv_get_available_transitions;
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} rcl_lifecycle_com_interface_t;
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typedef struct rcl_lifecycle_state_machine_t
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{
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const rcl_lifecycle_state_t * current_state;
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// Map/Associated array of registered states and transitions
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rcl_lifecycle_transition_map_t transition_map;
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// Communication interface into a ROS world
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rcl_lifecycle_com_interface_t com_interface;
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} rcl_lifecycle_state_machine_t;
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#if __cplusplus
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}
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#endif
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#endif // RCL_LIFECYCLE__DATA_TYPES_H_
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86
rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
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rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_LIFECYCLE__RCL_LIFECYCLE_H_
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#define RCL_LIFECYCLE__RCL_LIFECYCLE_H_
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#if __cplusplus
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extern "C"
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{
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#endif
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#include <stdbool.h>
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#include <rcl_lifecycle/visibility_control.h>
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#include <rcl_lifecycle/data_types.h>
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RCL_LIFECYCLE_PUBLIC
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rcl_lifecycle_state_machine_t
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rcl_lifecycle_get_zero_initialized_state_machine();
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RCL_LIFECYCLE_PUBLIC
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rcl_ret_t
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rcl_lifecycle_state_machine_init(
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rcl_lifecycle_state_machine_t * state_machine,
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rcl_node_t * node_handle,
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const rosidl_message_type_support_t * ts_pub_notify,
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const rosidl_service_type_support_t * ts_srv_change_state,
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const rosidl_service_type_support_t * ts_srv_get_state,
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const rosidl_service_type_support_t * ts_srv_get_available_states,
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const rosidl_service_type_support_t * ts_srv_get_available_transitions,
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bool default_states);
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RCL_LIFECYCLE_PUBLIC
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rcl_ret_t
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rcl_lifecycle_state_machine_fini(
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rcl_lifecycle_state_machine_t * state_machine,
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rcl_node_t * node_handle);
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RCL_LIFECYCLE_PUBLIC
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rcl_ret_t
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rcl_lifecycle_state_machine_is_initialized(
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const rcl_lifecycle_state_machine_t * state_machine);
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RCL_LIFECYCLE_PUBLIC
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const rcl_lifecycle_transition_t *
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rcl_lifecycle_is_valid_callback_transition(
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rcl_lifecycle_state_machine_t * state_machine,
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rcl_lifecycle_ret_t key);
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/// Execute a transition
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/*
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* Important note for \param key here:
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* This is meant as feedback from the high level
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* callback associated with this transition.
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* The key is the index for the valid transitions
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* associated with the current state.
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* This key may either be a valid external stimuli
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* such as "configure" or direct return codes from
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* callbacks such as RCL_LIFECYCLE_RET_OK et. al.
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*/
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RCL_LIFECYCLE_PUBLIC
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rcl_ret_t
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rcl_lifecycle_trigger_transition(
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rcl_lifecycle_state_machine_t * state_machine,
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rcl_lifecycle_ret_t key, bool publish_notification);
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RCL_LIFECYCLE_PUBLIC
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void
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rcl_print_state_machine(const rcl_lifecycle_state_machine_t * state_machine);
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#if __cplusplus
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}
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#endif // extern "C"
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#endif // RCL_LIFECYCLE__RCL_LIFECYCLE_H_
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55
rcl_lifecycle/include/rcl_lifecycle/transition_map.h
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rcl_lifecycle/include/rcl_lifecycle/transition_map.h
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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_LIFECYCLE__TRANSITION_MAP_H_
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#define RCL_LIFECYCLE__TRANSITION_MAP_H_
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#include <rcl_lifecycle/data_types.h>
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#if __cplusplus
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extern "C"
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{
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#endif
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RCL_LIFECYCLE_PUBLIC
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void
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rcl_lifecycle_register_state(
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rcl_lifecycle_transition_map_t * map,
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rcl_lifecycle_state_t state);
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RCL_LIFECYCLE_PUBLIC
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void
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rcl_lifecycle_register_transition(
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rcl_lifecycle_transition_map_t * transition_map,
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rcl_lifecycle_transition_t transition,
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rcl_lifecycle_ret_t key);
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RCL_LIFECYCLE_PUBLIC
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rcl_lifecycle_state_t *
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rcl_lifecycle_get_state(
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rcl_lifecycle_transition_map_t * transition_map,
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unsigned int state_id);
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RCL_LIFECYCLE_PUBLIC
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rcl_lifecycle_transition_t *
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rcl_lifecycle_get_transitions(
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rcl_lifecycle_transition_map_t * transition_map,
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unsigned int state_id);
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#if __cplusplus
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}
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#endif
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#endif // RCL_LIFECYCLE__TRANSITION_MAP_H_
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56
rcl_lifecycle/include/rcl_lifecycle/visibility_control.h
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rcl_lifecycle/include/rcl_lifecycle/visibility_control.h
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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/* This header must be included by all rclcpp headers which declare symbols
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* which are defined in the rclcpp library. When not building the rclcpp
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* library, i.e. when using the headers in other package's code, the contents
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* of this header change the visibility of certain symbols which the rclcpp
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* library cannot have, but the consuming code must have inorder to link.
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*/
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#ifndef RCL_LIFECYCLE__VISIBILITY_CONTROL_H_
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#define RCL_LIFECYCLE__VISIBILITY_CONTROL_H_
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef __GNUC__
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#define RCL_LIFECYCLE_EXPORT __attribute__ ((dllexport))
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#define RCL_LIFECYCLE_IMPORT __attribute__ ((dllimport))
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#else
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#define RCL_LIFECYCLE_EXPORT __declspec(dllexport)
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#define RCL_LIFECYCLE_IMPORT __declspec(dllimport)
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#endif
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#ifdef RCL_LIFECYCLE_BUILDING_DLL
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#define RCL_LIFECYCLE_PUBLIC RCL_LIFECYCLE_EXPORT
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#else
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#define RCL_LIFECYCLE_PUBLIC RCL_LIFECYCLE_IMPORT
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#endif
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#define RCL_LIFECYCLE_PUBLIC_TYPE RCL_LIFECYCLE_PUBLIC
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#define RCL_LIFECYCLE_LOCAL
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#else
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#define RCL_LIFECYCLE_EXPORT __attribute__ ((visibility("default")))
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#define RCL_LIFECYCLE_IMPORT
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#if __GNUC__ >= 4
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#define RCL_LIFECYCLE_PUBLIC __attribute__ ((visibility("default")))
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#define RCL_LIFECYCLE_LOCAL __attribute__ ((visibility("hidden")))
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#else
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#define RCL_LIFECYCLE_PUBLIC
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#define RCL_LIFECYCLE_LOCAL
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#endif
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#define RCL_LIFECYCLE_PUBLIC_TYPE
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#endif
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#endif // RCL_LIFECYCLE__VISIBILITY_CONTROL_H_
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