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remove const qualifier for transition states (#197)

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* remove const qualifier for transition states

* remove unnecessary const_casts

* init and fini function for state and transition
This commit is contained in:
Karsten Knese 2017-12-05 20:22:19 -08:00 • committed by GitHub
parent 77e6979d9f
commit c25d227ce9
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 216 additions and 27 deletions
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4
rcl_lifecycle/include/rcl_lifecycle/data_types.h
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@ -51,8 +51,8 @@ typedef struct rcl_lifecycle_transition_t
{
const char * label;
unsigned int id;
const rcl_lifecycle_state_t * start;
const rcl_lifecycle_state_t * goal;
rcl_lifecycle_state_t * start;
rcl_lifecycle_state_t * goal;
} rcl_lifecycle_transition_t;
typedef struct rcl_lifecycle_transition_map_t

49
rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
View file

@ -25,6 +25,55 @@ extern "C"
#include "rcl_lifecycle/data_types.h"
#include "rcl_lifecycle/visibility_control.h"
RCL_LIFECYCLE_PUBLIC
rcl_lifecycle_state_t
rcl_lifecycle_get_zero_initialized_state();
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_state_init(
rcl_lifecycle_state_t * state,
unsigned int id,
const char * label,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_state_fini(
rcl_lifecycle_state_t * state,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
rcl_lifecycle_transition_t
rcl_lifecycle_get_zero_initialized_transition();
/// Initialize transition with existing states
/**
* Note: the transition pointer will take ownership
* of the start and goal state. When calling
* rcl_lifecycle_transition_fini(), the two states
* will be freed.
*/
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_transition_init(
rcl_lifecycle_transition_t * transition,
unsigned int id,
const char * label,
rcl_lifecycle_state_t * start,
rcl_lifecycle_state_t * goal,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_transition_fini(
rcl_lifecycle_transition_t * transition,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
rcl_lifecycle_state_machine_t
rcl_lifecycle_get_zero_initialized_state_machine();