a18ef97e5a
* (refactor) add rcl_lifecycle package * (refactor) cleanup free calls * (fix) initialize state machine with external node handle * (dev) use external typesupport * (fix) use external typesupport * (fix) cleanup states * (fix) no pointer comparison in state machine * (test) refactor for rcl testing purpose * (test) test suite for lifecycle sequence * (dev) change to rcl_ret_t * (test) wrong transition test * (fix) dependency for isolated build * (clean) remove std_msgs as a dep * (fix) enable correct visibility control * (fix) correct test for initialization * (fix) correct visibility attributes * (dev) change default value to lifecycle_msgs * (clean) style and lifecycle prefix * (dev) cmake macro get_rcl_lifecycle_information * (cleanup) remove unused files' * (cleanup) remove callback pointer * (debug) add print state machine function * (review) address review comments * (bugfix) correct export in information.cmake * (fix) correct visibility control * (vcs) fix convertion from size_t to unsigned int * (typo) fix internal struct name * const correctness * get_available_states service * new service msgs * tes for multiple instances * (dev) return codes * initial refactor * test default sequence * refactor state machine * apply upstream changes * c++14 * disable state machine print * address review comments * uncrustify * fix comparison with unsigned warning
52 lines
1.6 KiB
C
52 lines
1.6 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 COM_INTERFACE_H_
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#define COM_INTERFACE_H_
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#if __cplusplus
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extern "C"
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{
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#endif
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#include "rcl_lifecycle/data_types.h"
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rcl_lifecycle_com_interface_t
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rcl_lifecycle_get_zero_initialized_com_interface();
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rcl_ret_t
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rcl_lifecycle_com_interface_init(
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rcl_lifecycle_com_interface_t * com_interface,
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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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rcl_ret_t
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rcl_lifecycle_com_interface_fini(
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rcl_lifecycle_com_interface_t * com_interface,
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rcl_node_t * node_handle);
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rcl_ret_t
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rcl_lifecycle_com_interface_publish_notification(
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rcl_lifecycle_com_interface_t * com_interface,
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const rcl_lifecycle_state_t * start, const rcl_lifecycle_state_t * goal);
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#if __cplusplus
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}
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#endif
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#endif // COM_INTERFACE_H_
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