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add rcl lifecycle

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* (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 2016-12-14 09:28:54 -08:00 • committed by GitHub
parent 4590fc5f77
commit a18ef97e5a
17 changed files with 2357 additions and 0 deletions
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51
rcl_lifecycle/src/states.h Normal file
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// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef STATES_H_
#define STATES_H_
#include <rcl_lifecycle/visibility_control.h>
#include <rcl_lifecycle/data_types.h>
#if __cplusplus
extern "C"
{
#endif
// primary states based on
// design.ros2.org/articles/node_lifecycle.html
extern const rcl_lifecycle_state_t rcl_state_unknown;
extern const rcl_lifecycle_state_t rcl_state_unconfigured;
extern const rcl_lifecycle_state_t rcl_state_inactive;
extern const rcl_lifecycle_state_t rcl_state_active;
extern const rcl_lifecycle_state_t rcl_state_finalized;
extern const rcl_lifecycle_state_t rcl_state_configuring;
extern const rcl_lifecycle_state_t rcl_state_cleaningup;
extern const rcl_lifecycle_state_t rcl_state_shuttingdown;
extern const rcl_lifecycle_state_t rcl_state_activating;
extern const rcl_lifecycle_state_t rcl_state_deactivating;
extern const rcl_lifecycle_state_t rcl_state_errorprocessing;
extern const rcl_lifecycle_transition_t rcl_transition_configure;
extern const rcl_lifecycle_transition_t rcl_transition_cleanup;
extern const rcl_lifecycle_transition_t rcl_transition_shutdown;
extern const rcl_lifecycle_transition_t rcl_transition_activate;
extern const rcl_lifecycle_transition_t rcl_transition_deactivate;
#if __cplusplus
}
#endif // extern "C"
#endif // STATES_H_