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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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6 changed files with 216 additions and 27 deletions
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139
rcl_lifecycle/src/rcl_lifecycle.c
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@ -25,6 +25,7 @@ extern "C"
#include "rcl/error_handling.h"
#include "rcutils/logging_macros.h"
#include "rcutils/strdup.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/transition_map.h"
@ -33,6 +34,144 @@ extern "C"
#include "default_state_machine.h" // NOLINT
#include "states.h" // NOLINT
rcl_lifecycle_state_t
rcl_lifecycle_get_zero_initialized_state()
{
rcl_lifecycle_state_t state;
state.id = 0;
state.label = NULL;
return state;
}
rcl_ret_t
rcl_lifecycle_state_init(
rcl_lifecycle_state_t * state,
unsigned int id,
const char * label,
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize state, no allocator given\n",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!state) {
RCL_SET_ERROR_MSG("state pointer is null\n", *allocator);
return RCL_RET_ERROR;
}
state->id = id;
state->label = rcutils_strndup(label, strlen(label), *allocator);
if (!state->label) {
RCL_SET_ERROR_MSG("failed to duplicate label for rcl_lifecycle_state_t\n", *allocator);
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}
rcl_ret_t
rcl_lifecycle_state_fini(
rcl_lifecycle_state_t * state,
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't free state, no allocator given\n",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
// it is already NULL
if (!state) {
return RCL_RET_OK;
}
if (state->label) {
allocator->deallocate((char *)state->label, allocator->state);
state->label = NULL;
}
allocator->deallocate(state, allocator->state);
state = NULL;
return RCL_RET_OK;
}
rcl_lifecycle_transition_t
rcl_lifecycle_get_zero_initialized_transition()
{
rcl_lifecycle_transition_t transition;
transition.id = 0;
transition.label = NULL;
transition.start = NULL;
transition.goal = NULL;
return transition;
}
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)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize transition, no allocator given\n",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!transition) {
RCL_SET_ERROR_MSG("transition pointer is null\n", *allocator);
return RCL_RET_OK;
}
transition->start = start;
transition->goal = goal;
transition->id = id;
transition->label = rcutils_strndup(label, strlen(label), *allocator);
if (!transition->label) {
RCL_SET_ERROR_MSG("failed to duplicate label for rcl_lifecycle_transition_t\n", *allocator);
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}
rcl_ret_t
rcl_lifecycle_transition_fini(
rcl_lifecycle_transition_t * transition,
const rcl_allocator_t * allocator)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize transition, no allocator given\n",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
// it is already NULL
if (!transition) {
return RCL_RET_OK;
}
rcl_ret_t ret = RCL_RET_OK;
if (rcl_lifecycle_state_fini(transition->start, allocator) != RCL_RET_OK) {
ret = RCL_RET_ERROR;
}
if (rcl_lifecycle_state_fini(transition->goal, allocator) != RCL_RET_OK) {
ret = RCL_RET_ERROR;
}
allocator->deallocate((char *)transition->label, allocator->state);
transition->label = NULL;
allocator->deallocate(transition, allocator->state);
transition = NULL;
return ret;
}
// get zero initialized state machine here
rcl_lifecycle_state_machine_t
rcl_lifecycle_get_zero_initialized_state_machine()