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expose error handling for state changes (#344)

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* remove fprintf, use logging

* expose lifecycle error code

* address comments
This commit is contained in:
Karsten Knese 2017-07-27 07:55:15 -07:00 • committed by GitHub
parent 40b09b5b14
commit 0c26dd99b6
5 changed files with 160 additions and 31 deletions
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28
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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@ -371,30 +371,58 @@ public:
const State &
trigger_transition(const Transition & transition);
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(const Transition & transition, rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(uint8_t transition_id);
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(uint8_t transition_id, rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
configure();
RCLCPP_LIFECYCLE_PUBLIC
const State &
configure(rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
cleanup();
RCLCPP_LIFECYCLE_PUBLIC
const State &
cleanup(rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
activate();
RCLCPP_LIFECYCLE_PUBLIC
const State &
activate(rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
deactivate();
RCLCPP_LIFECYCLE_PUBLIC
const State &
deactivate(rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown();
RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown(rcl_lifecycle_ret_t & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_configure(std::function<rcl_lifecycle_ret_t(const State &)> fcn);