5e3d4be720
* no static initialization of states anymore * make transition labels more descriptive * introduce labeled keys * define default transition keys * fix memory management * introduce service for transition graph * export transition keys * remove keys, transition id unique, label ambiguous * semicolon for macro call
149 lines
3.9 KiB
C
149 lines
3.9 KiB
C
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_LIFECYCLE__RCL_LIFECYCLE_H_
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#define RCL_LIFECYCLE__RCL_LIFECYCLE_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include <stdbool.h>
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#include "rcl_lifecycle/data_types.h"
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#include "rcl_lifecycle/default_state_machine.h"
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#include "rcl_lifecycle/visibility_control.h"
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RCL_LIFECYCLE_PUBLIC
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rcl_lifecycle_state_t
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rcl_lifecycle_get_zero_initialized_state();
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_state_init(
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rcl_lifecycle_state_t * state,
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unsigned int id,
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const char * label,
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const rcl_allocator_t * allocator);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_state_fini(
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rcl_lifecycle_state_t * state,
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const rcl_allocator_t * allocator);
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RCL_LIFECYCLE_PUBLIC
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rcl_lifecycle_transition_t
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rcl_lifecycle_get_zero_initialized_transition();
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/// Initialize transition with existing states
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/**
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* Note: the transition pointer will take ownership
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* of the start and goal state. When calling
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* rcl_lifecycle_transition_fini(), the two states
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* will be freed.
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*/
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_transition_init(
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rcl_lifecycle_transition_t * transition,
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unsigned int id,
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const char * label,
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rcl_lifecycle_state_t * start,
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rcl_lifecycle_state_t * goal,
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const rcl_allocator_t * allocator);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_transition_fini(
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rcl_lifecycle_transition_t * transition,
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const rcl_allocator_t * allocator);
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RCL_LIFECYCLE_PUBLIC
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rcl_lifecycle_state_machine_t
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rcl_lifecycle_get_zero_initialized_state_machine();
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_state_machine_init(
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rcl_lifecycle_state_machine_t * state_machine,
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rcl_node_t * node_handle,
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const rosidl_message_type_support_t * ts_pub_notify,
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const rosidl_service_type_support_t * ts_srv_change_state,
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const rosidl_service_type_support_t * ts_srv_get_state,
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const rosidl_service_type_support_t * ts_srv_get_available_states,
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const rosidl_service_type_support_t * ts_srv_get_available_transitions,
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const rosidl_service_type_support_t * ts_srv_get_transition_graph,
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bool default_states,
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const rcl_allocator_t * allocator);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_state_machine_fini(
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rcl_lifecycle_state_machine_t * state_machine,
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rcl_node_t * node_handle,
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const rcl_allocator_t * allocator);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_state_machine_is_initialized(
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const rcl_lifecycle_state_machine_t * state_machine);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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const rcl_lifecycle_transition_t *
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rcl_lifecycle_get_transition_by_id(
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const rcl_lifecycle_state_t * state,
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uint8_t id);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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const rcl_lifecycle_transition_t *
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rcl_lifecycle_get_transition_by_label(
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const rcl_lifecycle_state_t * state,
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const char * label);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_trigger_transition_by_id(
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rcl_lifecycle_state_machine_t * state_machine,
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uint8_t id,
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bool publish_notification);
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RCL_LIFECYCLE_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_lifecycle_trigger_transition_by_label(
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rcl_lifecycle_state_machine_t * state_machine,
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const char * label,
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bool publish_notification);
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RCL_LIFECYCLE_PUBLIC
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void
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rcl_print_state_machine(const rcl_lifecycle_state_machine_t * state_machine);
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#ifdef __cplusplus
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}
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#endif // extern "C"
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#endif // RCL_LIFECYCLE__RCL_LIFECYCLE_H_
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