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use rcl_allocator for rcl_lifecycle & namespaced topics (#142)

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* 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
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89
rcl_lifecycle/src/rcl_lifecycle.c
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@ -36,15 +36,8 @@ rcl_lifecycle_state_machine_t
rcl_lifecycle_get_zero_initialized_state_machine()
{
rcl_lifecycle_state_machine_t state_machine;
state_machine.transition_map.states = NULL;
state_machine.transition_map.states_size = 0;
state_machine.transition_map.transitions = NULL;
state_machine.transition_map.transitions_size = 0;
state_machine.transition_map = rcl_lifecycle_get_zero_initialized_transition_map();
state_machine.com_interface = rcl_lifecycle_get_zero_initialized_com_interface();
state_machine.allocator.allocate = NULL;
state_machine.allocator.deallocate = NULL;
state_machine.allocator.reallocate = NULL;
state_machine.allocator.state = NULL;
return state_machine;
}
@ -57,56 +50,68 @@ 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)
{
if (rcl_lifecycle_com_interface_init(
&state_machine->com_interface, node_handle,
ts_pub_notify,
ts_srv_change_state, ts_srv_get_state,
ts_srv_get_available_states, ts_srv_get_available_transitions) != RCL_RET_OK)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't initialize state machine, no allocator given\n",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
rcl_ret_t ret = rcl_lifecycle_com_interface_init(
&state_machine->com_interface, node_handle,
ts_pub_notify,
ts_srv_change_state, ts_srv_get_state,
ts_srv_get_available_states, ts_srv_get_available_transitions,
allocator);
if (ret != RCL_RET_OK) {
return RCL_RET_ERROR;
}
if (default_states) {
rcl_ret_t ret = rcl_lifecycle_init_default_state_machine(state_machine);
rcl_ret_t ret =
rcl_lifecycle_init_default_state_machine(state_machine, allocator);
if (ret != RCL_RET_OK) {
// error should already be set
return ret;
// init default state machine might have allocated memory,
// so we have to call fini
if (rcl_lifecycle_state_machine_fini(state_machine, node_handle, allocator) != RCL_RET_OK) {
// error already set
return RCL_RET_ERROR;
}
}
}
const rcl_node_options_t * node_options = rcl_node_get_options(node_handle);
if (!node_options) {
RCL_SET_ERROR_MSG("node does not have valid options", rcl_get_default_allocator());
return RCL_RET_NODE_INVALID;
}
state_machine->allocator = node_options->allocator;
return RCL_RET_OK;
}
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)
{
if (!allocator) {
RCL_SET_ERROR_MSG("can't free state machine, no allocator given\n",
rcl_get_default_allocator());
return RCL_RET_ERROR;
}
rcl_ret_t fcn_ret = RCL_RET_OK;
fcn_ret = rcl_lifecycle_com_interface_fini(&state_machine->com_interface, node_handle);
rcl_lifecycle_transition_map_t * transition_map = &state_machine->transition_map;
// for each state free the allocations for their keys/transitions
for (unsigned int i = 0; i < transition_map->states_size; ++i) {
free(transition_map->states[i].valid_transition_keys);
free(transition_map->states[i].valid_transitions);
if (rcl_lifecycle_com_interface_fini(&state_machine->com_interface, node_handle) != RCL_RET_OK) {
RCL_SET_ERROR_MSG(
"could not free lifecycle com interface. Leaking memory!\n", rcl_get_default_allocator());
fcn_ret = RCL_RET_ERROR;
}
if (rcl_lifecycle_transition_map_fini(
&state_machine->transition_map, allocator) != RCL_RET_OK)
{
RCL_SET_ERROR_MSG(
"could not free lifecycle transition map. Leaking memory!\n", rcl_get_default_allocator());
fcn_ret = RCL_RET_ERROR;
}
// free the primary states
free(transition_map->states);
transition_map->states = NULL;
// free the tansitions
free(transition_map->transitions);
transition_map->transitions = NULL;
return fcn_ret;
}
@ -122,6 +127,10 @@ rcl_lifecycle_state_machine_is_initialized(const rcl_lifecycle_state_machine_t *
RCL_SET_ERROR_MSG("change_state service is null", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (rcl_lifecycle_transition_map_is_initialized(&state_machine->transition_map) != RCL_RET_OK) {
RCL_SET_ERROR_MSG("transition map is null", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}
@ -139,7 +148,7 @@ rcl_lifecycle_is_valid_transition(
return &current_state->valid_transitions[i];
}
}
fprintf(stderr, "%s:%u, No callback transition matching %u found for current state %s\n",
fprintf(stderr, "%s:%u, No callback transition matching %d found for current state %s\n",
__FILE__, __LINE__, key, state_machine->current_state->label);
return NULL;
}