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expose explicit transition calls (#334)

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This commit is contained in:
Karsten Knese 2017-06-05 18:24:12 -07:00 • committed by GitHub
parent a4f00dc574
commit 2847e4aefd
2 changed files with 60 additions and 0 deletions
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25
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -371,21 +371,46 @@ public:
const State &
trigger_transition(uint8_t transition_id);
RCLCPP_LIFECYCLE_PUBLIC
const State &
configure();
RCLCPP_LIFECYCLE_PUBLIC
const State &
cleanup();
RCLCPP_LIFECYCLE_PUBLIC
const State &
activate();
RCLCPP_LIFECYCLE_PUBLIC
const State &
deactivate();
RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown();
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_configure(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_cleanup(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_shutdown(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_activate(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_deactivate(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_error(std::function<rcl_lifecycle_ret_t(const State &)> fcn);

35
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -305,6 +305,41 @@ LifecycleNode::trigger_transition(uint8_t transition_id)
return impl_->trigger_transition(transition_id);
}
const State &
LifecycleNode::configure()
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
}
const State &
LifecycleNode::cleanup()
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP);
}
const State &
LifecycleNode::activate()
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
}
const State &
LifecycleNode::deactivate()
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
}
const State &
LifecycleNode::shutdown()
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_SHUTDOWN);
}
void
LifecycleNode::add_publisher_handle(
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisherInterface> pub)