niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

use rcl_allocator for rcl_lifecycle & namespaced topics (#142)

Browse source 
* use rcl_allocator for rcl_lifecycle

* correct return value interpretation

* fix unsigned comparison

* use namespace for lifecycle in-built topics

* linters
This commit is contained in:
Karsten Knese 2017-06-16 23:44:06 +02:00 • committed by Dirk Thomas
parent 0f2519944a
commit c37bfec072
13 changed files with 612 additions and 193 deletions
Download patch file Download diff file Expand all files Collapse all files

3
rcl_lifecycle/include/rcl_lifecycle/data_types.h
View file

@ -44,6 +44,7 @@ typedef struct rcl_lifecycle_state_t
// is "unconfigured_shutdown". However, the user only specifies
// "shutdown". So we register the "unconfigured_shutdown"
// transition with the impuls "shutdown".
// TODO(karsten1987): Introduce new type for valid_transition_keys
rcl_lifecycle_ret_t * valid_transition_keys;
rcl_lifecycle_transition_t * valid_transitions;
unsigned int valid_transition_size;
@ -84,8 +85,6 @@ typedef struct rcl_lifecycle_state_machine_t
rcl_lifecycle_transition_map_t transition_map;
// Communication interface into a ROS world
rcl_lifecycle_com_interface_t com_interface;
// Allocator used.
rcl_allocator_t allocator;
} rcl_lifecycle_state_machine_t;
#if __cplusplus

6
rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
View file

@ -40,14 +40,16 @@ rcl_lifecycle_state_machine_init(
const rosidl_service_type_support_t * ts_srv_get_state,
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
bool default_states);
bool default_states,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_state_machine_fini(
rcl_lifecycle_state_machine_t * state_machine,
rcl_node_t * node_handle);
rcl_node_t * node_handle,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED

34
rcl_lifecycle/include/rcl_lifecycle/transition_map.h
View file

@ -25,17 +25,39 @@ extern "C"
#endif
RCL_LIFECYCLE_PUBLIC
void
rcl_lifecycle_register_state(
rcl_lifecycle_transition_map_t * map,
rcl_lifecycle_state_t state);
RCL_WARN_UNUSED
rcl_lifecycle_transition_map_t
rcl_lifecycle_get_zero_initialized_transition_map();
RCL_LIFECYCLE_PUBLIC
void
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_transition_map_is_initialized(
const rcl_lifecycle_transition_map_t * transition_map);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_transition_map_fini(
rcl_lifecycle_transition_map_t * transition_map,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_register_state(
rcl_lifecycle_transition_map_t * map,
rcl_lifecycle_state_t state,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_register_transition(
rcl_lifecycle_transition_map_t * transition_map,
rcl_lifecycle_transition_t transition,
rcl_lifecycle_ret_t key);
rcl_lifecycle_ret_t key,
const rcl_allocator_t * allocator);
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED