add rclcpp lifecycle
* initial state machine implementation (fix) correctly initialize default state machine uncrustify (dev) first high level api interface src/default_state_machine.c (fix) correctly initialize arrays in statemachine (dev) deactivate/activate publisher demo (dev) initial state machine implementation in rcl * (dev) demo application for a managed lifecycle node * add visibility control * correct install of c-library * fix compilation on windows * refactoring of external/internal api * (dev) generate static functions for c-callback * (fix) correct typo * (dev) cleanup for c-statemachine (dev) cleanup for c-statemachine * (dev) cpp callback map * (dev) mv source file into project folders * (dev) more helper functions for valid transition * (dev) pimpl implementation for cpp lifecyclemanager * (dev) register non-default callback functions * (dev) cleanup lifecycle node to serve as base class * (dev) new my_node child of lifecyclenode for demo purpose update stuff (cleanup) remove unused comments (fix) correct dllexport in windows (fix) correctly install libraries (fix) uncrustify (dev) composition over inheritance (dev) publish notification in state_machine transition (dev) lifecycle talker + listener demo for notification (dev) custom transition message generation (dev) publish transition message on state change (dev) correctly malloc/free c data structures (fix) use single thread executor (dev) use services for get state (fix) set freed pointer to NULL (dev) add change state service (dev) introduce services: get_state and change_state in LM (dev) asynchronous caller script for service client (fix) correct dllexport for pimpl (dev) correct constness (dev) concatenate function for topic (fix) uncrustify prepare new service api (tmp) refactor stash (fix) correctly concatenate topics (fix) correctly initialize Service wo/ copy (dev) call both service types extract demo files (fix) remove debug prints (dev) change to lifecycle_msgs (refactor) extract rcl_lifecycle package (refactor) extract lifecycle demos (fix) address review comments (fix) address review comments (fix) pass shared_ptr by value (fix) make find_package(rmw) required (fix) return to shared node handle pointer (refactor) attach sm to lifecycle node and disable lc_manager (dev) construct service from existing rcl_service_t (refactor) extract method for adding a service to a node (fix) stop mock msgs from being installed service takes rcl_node_t* correct typo add_service has to be public uncrustify initial state machine implementation (fix) correctly initialize default state machine uncrustify (dev) first high level api interface src/default_state_machine.c (fix) correctly initialize arrays in statemachine (dev) deactivate/activate publisher demo (dev) initial state machine implementation in rcl (dev) demo application for a managed lifecycle node add visibility control correct install of c-library fix compilation on windows refactoring of external/internal api (dev) generate static functions for c-callback (fix) correct typo (dev) cleanup for c-statemachine (dev) cleanup for c-statemachine (dev) cpp callback map (dev) mv source file into project folders (dev) more helper functions for valid transition (dev) pimpl implementation for cpp lifecyclemanager (dev) register non-default callback functions (dev) cleanup lifecycle node to serve as base class (dev) new my_node child of lifecyclenode for demo purpose update stuff (cleanup) remove unused comments (fix) correct dllexport in windows (fix) correctly install libraries (fix) uncrustify (dev) composition over inheritance (dev) publish notification in state_machine transition (dev) lifecycle talker + listener demo for notification (dev) custom transition message generation (dev) publish transition message on state change (dev) correctly malloc/free c data structures (fix) use single thread executor (dev) use services for get state (fix) set freed pointer to NULL (dev) add change state service (dev) introduce services: get_state and change_state in LM (dev) asynchronous caller script for service client (fix) correct dllexport for pimpl (dev) correct constness (dev) concatenate function for topic (fix) uncrustify prepare new service api (tmp) refactor stash * (dev) construct service from existing rcl_service_t * service takes rcl_node_t* * correct typo * add_service has to be public * uncrustify * (fix) correctly concatenate topics * (fix) correctly initialize Service wo/ copy * (dev) call both service types * extract demo files * (fix) remove debug prints * (dev) change to lifecycle_msgs * (refactor) extract rcl_lifecycle package * (refactor) extract lifecycle demos * (fix) address review comments (fix) address review comments * (fix) make find_package(rmw) required * (refactor) attach sm to lifecycle node and disable lc_manager * (fix) adjust code to rcl_test refactor * (dev) remove unused deps * (rebase) merge commit * (bugfix) correct rcl_ret_t error handling * (fix) depedencies * (refactor) change to lifecycle_msgs * (fix) correct find_rcl * (refactor) comply for new state machine * visibility control and test api * (rebase) change to new typesupport * uncrustify' * fix visibility control * (fix) correct whitespace * (fix) unused variable * comparison signed and unsigned * get_state returns complete state * get_available_states service * new service msgs * get available states and transitions api * (broken) state after rebase, does not compile demos * fix the way lifecycle node impl is included * fixed rebase compilation errors * remove copy&paste comment * remove empty line * (test) register custom callbacks * (dev) return codes * style * test for exception handling * refacotr new state machine * c++14 * change exception message for windows ci bug change exception message for windows ci bug
This commit is contained in:
Karsten Knese
GitHub
parent
d241a730fe
commit
2c6d95946e
19 changed files with 2712 additions and 0 deletions
310
rclcpp_lifecycle/src/lifecycle_node.cpp
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310
rclcpp_lifecycle/src/lifecycle_node.cpp
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// 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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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include <string>
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#include <map>
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#include <memory>
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#include <vector>
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#include <utility>
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#include "lifecycle_msgs/msg/state.hpp"
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#include "lifecycle_msgs/msg/transition.hpp"
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/graph_listener.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/node_interfaces/node_base.hpp"
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#include "rclcpp/node_interfaces/node_graph.hpp"
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#include "rclcpp/node_interfaces/node_parameters.hpp"
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#include "rclcpp/node_interfaces/node_services.hpp"
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#include "rclcpp/node_interfaces/node_timers.hpp"
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#include "rclcpp/node_interfaces/node_topics.hpp"
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#include "lifecycle_node_interface_impl.hpp" // implementation
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namespace rclcpp_lifecycle
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{
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LifecycleNode::LifecycleNode(const std::string & node_name, bool use_intra_process_comms)
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: LifecycleNode(
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node_name,
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rclcpp::contexts::default_context::get_global_default_context(),
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use_intra_process_comms)
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{}
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LifecycleNode::LifecycleNode(
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const std::string & node_name,
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rclcpp::context::Context::SharedPtr context,
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bool use_intra_process_comms)
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: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, context)),
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node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
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node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
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node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
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node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
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node_parameters_(new rclcpp::node_interfaces::NodeParameters(
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node_topics_.get(),
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use_intra_process_comms
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)),
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use_intra_process_comms_(use_intra_process_comms),
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impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
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{
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impl_->init();
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register_on_configure(std::bind(&LifecycleNodeInterface::on_configure, this,
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std::placeholders::_1));
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register_on_cleanup(std::bind(&LifecycleNodeInterface::on_cleanup, this, std::placeholders::_1));
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register_on_shutdown(std::bind(&LifecycleNodeInterface::on_shutdown, this,
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std::placeholders::_1));
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register_on_activate(std::bind(&LifecycleNodeInterface::on_activate, this,
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std::placeholders::_1));
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register_on_deactivate(std::bind(&LifecycleNodeInterface::on_deactivate, this,
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std::placeholders::_1));
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register_on_error(std::bind(&LifecycleNodeInterface::on_error, this, std::placeholders::_1));
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}
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LifecycleNode::~LifecycleNode()
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{}
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const char *
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LifecycleNode::get_name() const
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{
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return node_base_->get_name();
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}
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rclcpp::callback_group::CallbackGroup::SharedPtr
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LifecycleNode::create_callback_group(
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rclcpp::callback_group::CallbackGroupType group_type)
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{
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return node_base_->create_callback_group(group_type);
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}
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bool
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LifecycleNode::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
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{
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return node_base_->callback_group_in_node(group);
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}
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std::vector<rcl_interfaces::msg::SetParametersResult>
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LifecycleNode::set_parameters(
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const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
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{
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return node_parameters_->set_parameters(parameters);
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}
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rcl_interfaces::msg::SetParametersResult
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LifecycleNode::set_parameters_atomically(
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const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
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{
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return node_parameters_->set_parameters_atomically(parameters);
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}
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std::vector<rclcpp::parameter::ParameterVariant>
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LifecycleNode::get_parameters(
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const std::vector<std::string> & names) const
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{
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return node_parameters_->get_parameters(names);
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}
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rclcpp::parameter::ParameterVariant
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LifecycleNode::get_parameter(const std::string & name) const
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{
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return node_parameters_->get_parameter(name);
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}
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bool LifecycleNode::get_parameter(const std::string & name,
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rclcpp::parameter::ParameterVariant & parameter) const
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{
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return node_parameters_->get_parameter(name, parameter);
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}
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std::vector<rcl_interfaces::msg::ParameterDescriptor>
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LifecycleNode::describe_parameters(
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const std::vector<std::string> & names) const
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{
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return node_parameters_->describe_parameters(names);
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}
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std::vector<uint8_t>
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LifecycleNode::get_parameter_types(
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const std::vector<std::string> & names) const
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{
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return node_parameters_->get_parameter_types(names);
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}
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rcl_interfaces::msg::ListParametersResult
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LifecycleNode::list_parameters(
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const std::vector<std::string> & prefixes, uint64_t depth) const
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{
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return node_parameters_->list_parameters(prefixes, depth);
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}
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std::map<std::string, std::string>
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LifecycleNode::get_topic_names_and_types() const
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{
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return node_graph_->get_topic_names_and_types();
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}
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size_t
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LifecycleNode::count_publishers(const std::string & topic_name) const
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{
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return node_graph_->count_publishers(topic_name);
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}
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size_t
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LifecycleNode::count_subscribers(const std::string & topic_name) const
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{
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return node_graph_->count_subscribers(topic_name);
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}
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const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
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LifecycleNode::get_callback_groups() const
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{
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return node_base_->get_callback_groups();
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}
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rclcpp::event::Event::SharedPtr
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LifecycleNode::get_graph_event()
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{
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return node_graph_->get_graph_event();
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}
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void
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LifecycleNode::wait_for_graph_change(
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rclcpp::event::Event::SharedPtr event,
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std::chrono::nanoseconds timeout)
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{
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node_graph_->wait_for_graph_change(event, timeout);
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}
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
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LifecycleNode::get_node_base_interface()
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{
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return node_base_;
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}
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
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LifecycleNode::get_node_graph_interface()
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{
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return node_graph_;
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}
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rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
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LifecycleNode::get_node_timers_interface()
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{
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return node_timers_;
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}
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rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
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LifecycleNode::get_node_topics_interface()
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{
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return node_topics_;
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}
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rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
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LifecycleNode::get_node_services_interface()
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{
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return node_services_;
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}
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rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
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LifecycleNode::get_node_parameters_interface()
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{
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return node_parameters_;
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}
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////
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bool
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LifecycleNode::register_on_configure(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
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{
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return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING, fcn);
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}
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bool
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LifecycleNode::register_on_cleanup(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
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{
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return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP, fcn);
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}
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bool
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LifecycleNode::register_on_shutdown(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
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{
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return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN, fcn);
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}
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bool
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LifecycleNode::register_on_activate(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
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{
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return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING, fcn);
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}
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bool
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LifecycleNode::register_on_deactivate(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
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{
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return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING, fcn);
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}
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bool
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LifecycleNode::register_on_error(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
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{
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return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING,
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fcn);
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}
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const State &
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LifecycleNode::get_current_state()
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{
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return impl_->get_current_state();
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}
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std::vector<State>
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LifecycleNode::get_available_states()
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{
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return impl_->get_available_states();
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}
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std::vector<Transition>
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LifecycleNode::get_available_transitions()
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{
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return impl_->get_available_transitions();
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}
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const State &
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LifecycleNode::trigger_transition(const Transition & transition)
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{
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return trigger_transition(transition.id());
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}
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const State &
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LifecycleNode::trigger_transition(unsigned int transition_id)
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{
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return impl_->trigger_transition(transition_id);
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}
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void
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LifecycleNode::add_publisher_handle(
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisherInterface> pub)
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{
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impl_->add_publisher_handle(pub);
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}
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void
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LifecycleNode::add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer)
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{
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impl_->add_timer_handle(timer);
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}
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} // namespace rclcpp_lifecycle
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