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

rcl_lifecycle/src/transition_map.c

@@ -0,0 +1,106 @@
+// Copyright 2016 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.
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "rcl_lifecycle/transition_map.h"
+
+void
+rcl_lifecycle_register_state(
+  rcl_lifecycle_transition_map_t * transition_map,
+  rcl_lifecycle_state_t state)
+{
+  if (rcl_lifecycle_get_state(transition_map, state.id) != NULL) {
+    // primary state is already registered
+    fprintf(stderr, "%s:%u, State %u is already registered\n",
+      __FILE__, __LINE__, state.id);
+    return;
+  }
+
+  // add new primary state memory
+  // TODO(karsten1987): Add function for reallocf (see rcl)
+  ++transition_map->states_size;
+  transition_map->states = realloc(
+    transition_map->states,
+    transition_map->states_size * sizeof(rcl_lifecycle_state_t));
+
+  transition_map->states[transition_map->states_size - 1] = state;
+}
+
+void
+rcl_lifecycle_register_transition(
+  rcl_lifecycle_transition_map_t * transition_map,
+  rcl_lifecycle_transition_t transition,
+  rcl_lifecycle_ret_t key)
+{
+  // we add a new transition, so increase the size
+  ++transition_map->transitions_size;
+  transition_map->transitions = realloc(
+    transition_map->transitions,
+    transition_map->transitions_size * sizeof(rcl_lifecycle_transition_t));
+  // 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
+  rcl_lifecycle_state_t * state = rcl_lifecycle_get_state(transition_map, transition.start->id);
+
+  ++state->valid_transition_size;
+  state->valid_transitions = realloc(
+    state->valid_transitions,
+    state->valid_transition_size * sizeof(rcl_lifecycle_transition_t));
+  state->valid_transition_keys = realloc(
+    state->valid_transition_keys,
+    state->valid_transition_size * sizeof(rcl_lifecycle_ret_t));
+
+  // assign key
+  state->valid_transition_keys[state->valid_transition_size - 1] = key;
+  state->valid_transitions[state->valid_transition_size - 1] = transition;
+}
+
+rcl_lifecycle_state_t *
+rcl_lifecycle_get_state(
+  rcl_lifecycle_transition_map_t * transition_map,
+  unsigned int state_id)
+{
+  for (unsigned int i = 0; i < transition_map->states_size; ++i) {
+    if (transition_map->states[i].id == state_id) {
+      return &transition_map->states[i];
+    }
+  }
+  return NULL;
+}
+
+rcl_lifecycle_transition_t *
+rcl_lifecycle_get_transitions(
+  rcl_lifecycle_transition_map_t * transition_map,
+  unsigned int transition_id)
+{
+  for (unsigned int i = 0; i < transition_map->transitions_size; ++i) {
+    if (transition_map->transitions[i].id == transition_id) {
+      return &transition_map->transitions[i];
+    }
+  }
+  return NULL;
+}
+
+#if __cplusplus
+}
+#endif