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
80 lines
2 KiB
C
80 lines
2 KiB
C
// Copyright 2016 Open Source Robotics Foundation, Inc.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
|
|
#ifndef RCL_LIFECYCLE__TRANSITION_MAP_H_
|
|
#define RCL_LIFECYCLE__TRANSITION_MAP_H_
|
|
|
|
#include "rcl/macros.h"
|
|
|
|
#include "rcl_lifecycle/data_types.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C"
|
|
{
|
|
#endif
|
|
|
|
RCL_LIFECYCLE_PUBLIC
|
|
RCL_WARN_UNUSED
|
|
rcl_lifecycle_transition_map_t
|
|
rcl_lifecycle_get_zero_initialized_transition_map();
|
|
|
|
RCL_LIFECYCLE_PUBLIC
|
|
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,
|
|
const rcl_allocator_t * allocator);
|
|
|
|
RCL_LIFECYCLE_PUBLIC
|
|
RCL_WARN_UNUSED
|
|
rcl_lifecycle_state_t *
|
|
rcl_lifecycle_get_state(
|
|
rcl_lifecycle_transition_map_t * transition_map,
|
|
unsigned int state_id);
|
|
|
|
RCL_LIFECYCLE_PUBLIC
|
|
RCL_WARN_UNUSED
|
|
rcl_lifecycle_transition_t *
|
|
rcl_lifecycle_get_transitions(
|
|
rcl_lifecycle_transition_map_t * transition_map,
|
|
unsigned int state_id);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // RCL_LIFECYCLE__TRANSITION_MAP_H_
|