e00b4b8d2a
* Added documentation to rcl_lifecycle Signed-off-by: ahcorde <ahcorde@gmail.com> * Adding more documentation to rcl_lifecycle Signed-off-by: ahcorde <ahcorde@gmail.com> * Update rcl_lifecycle/include/rcl_lifecycle/default_state_machine.h Co-Authored-By: Jorge Perez <jjperez@ekumenlabs.com> Update rcl_lifecycle/include/rcl_lifecycle/default_state_machine.h Co-Authored-By: Jorge Perez <jjperez@ekumenlabs.com> Update rcl_lifecycle/include/rcl_lifecycle/transition_map.h Co-Authored-By: Jorge Perez <jjperez@ekumenlabs.com> Update rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h Co-Authored-By: Jorge Perez <jjperez@ekumenlabs.com> Update rcl_lifecycle/include/rcl_lifecycle/transition_map.h Co-Authored-By: Jorge Perez <jjperez@ekumenlabs.com> Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added more feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed uncrustify Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Jorge Perez <jjperez@ekumenlabs.com>
97 lines
3.4 KiB
C
97 lines
3.4 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__DEFAULT_STATE_MACHINE_H_
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#define RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_
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#include "rcl/macros.h"
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#include "rcl/types.h"
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#include "rcl_lifecycle/data_types.h"
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#include "rcl_lifecycle/visibility_control.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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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_configure_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_cleanup_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_activate_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_deactivate_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_shutdown_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_success_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_failure_label;
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RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_error_label;
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/// Initialize a default state machine
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/*
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* This function initializes a default state machine. It registers all: primary states,
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* transition states, transitions and the initial state. The primary state is unconfigured.
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*
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* States: unknown, unconfigured, inactive, active and finalized.
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* Transition states: configuring, cleaningup, activating, deactivating, errorprocessing
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* and shuttingdown.
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* Transitions:
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* - unconfigured to configuring
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* - unconfigured to shuttingdown
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* - configuring to inactive
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* - configuring to unconfigured
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* - configuring to errorprocessing
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* - inactive to activating
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* - inactive to cleaningup
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* - inactive to shuttingdown
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* - cleaningup to unconfigured
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* - cleaningup to inactive
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* - cleaniningup to errorprocessing
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* - activating to active
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* - activating to inactive
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* - activating to errorprocessing
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* - active to deactivating
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* - active to shuttingdown
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* - deactivating to inactive
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* - deactivating to active
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* - deactivating to errorprocessing
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* - shutting down to finalized
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* - shutting down to finalized
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* - shutting down to errorprocessing
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* - errorprocessing to uncofigured
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* - errorprocessing to finalized
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* - errorprocessing to finalized
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[inout] state_machine struct to be initialized
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* \param[in] allocator a valid allocator used to initialized the state machine
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* \return `RCL_RET_OK` if the state machine was initialized successfully, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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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_init_default_state_machine(
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rcl_lifecycle_state_machine_t * state_machine, const rcl_allocator_t * allocator);
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#ifdef __cplusplus
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}
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#endif
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#endif // RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_
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