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service for transition graph (#555)

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* service for transition graph

* remove keys, transition id unique, label ambiguous

* semicolon for macro call
This commit is contained in:
Karsten Knese 2018-10-11 14:03:57 -07:00 • committed by GitHub
parent bedb3ae361
commit 3353ffbb15
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 250 additions and 168 deletions
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26
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -416,7 +416,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(
const Transition & transition, rcl_lifecycle_transition_key_t & cb_return_code);
const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
@ -425,7 +425,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(
uint8_t transition_id, rcl_lifecycle_transition_key_t & cb_return_code);
uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
@ -433,7 +433,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
configure(rcl_lifecycle_transition_key_t & cb_return_code);
configure(LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
@ -441,7 +441,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
cleanup(rcl_lifecycle_transition_key_t & cb_return_code);
cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
@ -449,7 +449,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
activate(rcl_lifecycle_transition_key_t & cb_return_code);
activate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
@ -457,7 +457,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
deactivate(rcl_lifecycle_transition_key_t & cb_return_code);
deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
const State &
@ -465,31 +465,31 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown(rcl_lifecycle_transition_key_t & cb_return_code);
shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_configure(std::function<rcl_lifecycle_transition_key_t(const State &)> fcn);
register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_cleanup(std::function<rcl_lifecycle_transition_key_t(const State &)> fcn);
register_on_cleanup(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_shutdown(std::function<rcl_lifecycle_transition_key_t(const State &)> fcn);
register_on_shutdown(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_activate(std::function<rcl_lifecycle_transition_key_t(const State &)> fcn);
register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_deactivate(std::function<rcl_lifecycle_transition_key_t(const State &)> fcn);
register_on_deactivate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_error(std::function<rcl_lifecycle_transition_key_t(const State &)> fcn);
register_on_error(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
protected:
RCLCPP_LIFECYCLE_PUBLIC

23
rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp
View file

@ -15,7 +15,9 @@
#ifndef RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
#define RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
#include "rcl_lifecycle/data_types.h"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/visibility_control.h"
@ -44,12 +46,19 @@ protected:
LifecycleNodeInterface() {}
public:
enum class CallbackReturn : uint8_t
{
SUCCESS = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS,
FAILURE = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE,
ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR
};
/// Callback function for configure transition
/*
* \return true by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual rcl_lifecycle_transition_key_t
virtual CallbackReturn
on_configure(const State & previous_state);
/// Callback function for cleanup transition
@ -57,7 +66,7 @@ public:
* \return true by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual rcl_lifecycle_transition_key_t
virtual CallbackReturn
on_cleanup(const State & previous_state);
/// Callback function for shutdown transition
@ -65,7 +74,7 @@ public:
* \return true by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual rcl_lifecycle_transition_key_t
virtual CallbackReturn
on_shutdown(const State & previous_state);
/// Callback function for activate transition
@ -73,7 +82,7 @@ public:
* \return true by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual rcl_lifecycle_transition_key_t
virtual CallbackReturn
on_activate(const State & previous_state);
/// Callback function for deactivate transition
@ -81,7 +90,7 @@ public:
* \return true by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual rcl_lifecycle_transition_key_t
virtual CallbackReturn
on_deactivate(const State & previous_state);
/// Callback function for errorneous transition
@ -89,7 +98,7 @@ public:
* \return false by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual rcl_lifecycle_transition_key_t
virtual CallbackReturn
on_error(const State & previous_state);
};