remove const qualifier for transition states (#197)

* remove const qualifier for transition states

* remove unnecessary const_casts

* init and fini function for state and transition

rcl_lifecycle/include/rcl_lifecycle/data_types.h

@@ -51,8 +51,8 @@ typedef struct rcl_lifecycle_transition_t
 {
   const char * label;
   unsigned int id;
-  const rcl_lifecycle_state_t * start;
+  rcl_lifecycle_state_t * start;
-  const rcl_lifecycle_state_t * goal;
+  rcl_lifecycle_state_t * goal;
 } rcl_lifecycle_transition_t;
 
 typedef struct rcl_lifecycle_transition_map_t

rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h

@@ -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();

rcl_lifecycle/src/default_state_machine.c

@@ -37,38 +37,38 @@ rcl_lifecycle_transition_t * empty_transition = NULL;
 unsigned int empty_transition_size = 0;
 
 // Primary States
-const rcl_lifecycle_state_t rcl_state_unknown = {
+rcl_lifecycle_state_t rcl_state_unknown = {
   "unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_unconfigured = {
+rcl_lifecycle_state_t rcl_state_unconfigured = {
   "unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_inactive = {
+rcl_lifecycle_state_t rcl_state_inactive = {
   "inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_active = {
+rcl_lifecycle_state_t rcl_state_active = {
   "active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_finalized = {
+rcl_lifecycle_state_t rcl_state_finalized = {
   "finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED, NULL, NULL, 0
 };
 // Transition States
-const rcl_lifecycle_state_t rcl_state_configuring = {
+rcl_lifecycle_state_t rcl_state_configuring = {
   "configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_cleaningup = {
+rcl_lifecycle_state_t rcl_state_cleaningup = {
   "cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_shuttingdown = {
+rcl_lifecycle_state_t rcl_state_shuttingdown = {
   "shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_activating = {
+rcl_lifecycle_state_t rcl_state_activating = {
   "activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_deactivating = {
+rcl_lifecycle_state_t rcl_state_deactivating = {
   "deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, NULL, NULL, 0
 };
-const rcl_lifecycle_state_t rcl_state_errorprocessing = {
+rcl_lifecycle_state_t rcl_state_errorprocessing = {
   "errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, NULL, NULL, 0
 };
 

rcl_lifecycle/src/rcl_lifecycle.c

@@ -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()

rcl_lifecycle/src/states.h

@@ -25,18 +25,18 @@ extern "C"
 
 // primary states based on
 // design.ros2.org/articles/node_lifecycle.html
-extern const rcl_lifecycle_state_t rcl_state_unknown;
+extern rcl_lifecycle_state_t rcl_state_unknown;
-extern const rcl_lifecycle_state_t rcl_state_unconfigured;
+extern rcl_lifecycle_state_t rcl_state_unconfigured;
-extern const rcl_lifecycle_state_t rcl_state_inactive;
+extern rcl_lifecycle_state_t rcl_state_inactive;
-extern const rcl_lifecycle_state_t rcl_state_active;
+extern rcl_lifecycle_state_t rcl_state_active;
-extern const rcl_lifecycle_state_t rcl_state_finalized;
+extern rcl_lifecycle_state_t rcl_state_finalized;
 
-extern const rcl_lifecycle_state_t rcl_state_configuring;
+extern rcl_lifecycle_state_t rcl_state_configuring;
-extern const rcl_lifecycle_state_t rcl_state_cleaningup;
+extern rcl_lifecycle_state_t rcl_state_cleaningup;
-extern const rcl_lifecycle_state_t rcl_state_shuttingdown;
+extern rcl_lifecycle_state_t rcl_state_shuttingdown;
-extern const rcl_lifecycle_state_t rcl_state_activating;
+extern rcl_lifecycle_state_t rcl_state_activating;
-extern const rcl_lifecycle_state_t rcl_state_deactivating;
+extern rcl_lifecycle_state_t rcl_state_deactivating;
-extern const rcl_lifecycle_state_t rcl_state_errorprocessing;
+extern 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;

rcl_lifecycle/test/test_transition_map.cpp

@@ -61,14 +61,15 @@ TEST_F(TestTransitionMap, initialized) {
   rcl_lifecycle_state_t state1 = {"my_state", 1, NULL, NULL, 0};
   ret = rcl_lifecycle_register_state(&transition_map, state1, &allocator);
 
-  const rcl_lifecycle_state_t * start_state =
+  rcl_lifecycle_state_t * start_state =
     rcl_lifecycle_get_state(&transition_map, state0.id);
-  const rcl_lifecycle_state_t * goal_state =
+  rcl_lifecycle_state_t * goal_state =
     rcl_lifecycle_get_state(&transition_map, state1.id);
   EXPECT_EQ(0u, start_state->id);
   EXPECT_EQ(1u, goal_state->id);
 
-  rcl_lifecycle_transition_t transition01 = {"from0to1", 0, start_state, goal_state};
+  rcl_lifecycle_transition_t transition01 = {"from0to1", 0,
+    start_state, goal_state};
   ret = rcl_lifecycle_register_transition(
     &transition_map, transition01, 0, &allocator);
   EXPECT_EQ(RCL_RET_OK, ret);