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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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30
rclcpp_lifecycle/src/lifecycle_node.cpp
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@ -301,7 +301,7 @@ LifecycleNode::get_node_parameters_interface()
////
bool
LifecycleNode::register_on_configure(
std::function<rcl_lifecycle_transition_key_t(const State &)> fcn)
std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
{
return impl_->register_callback(
lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING, fcn);
@ -309,7 +309,7 @@ LifecycleNode::register_on_configure(
bool
LifecycleNode::register_on_cleanup(
std::function<rcl_lifecycle_transition_key_t(const State &)> fcn)
std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
{
return impl_->register_callback(
lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP, fcn);
@ -317,7 +317,7 @@ LifecycleNode::register_on_cleanup(
bool
LifecycleNode::register_on_shutdown(
std::function<rcl_lifecycle_transition_key_t(const State &)> fcn)
std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
{
return impl_->register_callback(
lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN, fcn);
@ -325,7 +325,7 @@ LifecycleNode::register_on_shutdown(
bool
LifecycleNode::register_on_activate(
std::function<rcl_lifecycle_transition_key_t(const State &)> fcn)
std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
{
return impl_->register_callback(
lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING, fcn);
@ -333,7 +333,7 @@ LifecycleNode::register_on_activate(
bool
LifecycleNode::register_on_deactivate(
std::function<rcl_lifecycle_transition_key_t(const State &)> fcn)
std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
{
return impl_->register_callback(
lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING, fcn);
@ -341,7 +341,7 @@ LifecycleNode::register_on_deactivate(
bool
LifecycleNode::register_on_error(
std::function<rcl_lifecycle_transition_key_t(const State &)> fcn)
std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
{
return impl_->register_callback(
lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING, fcn);
@ -373,7 +373,7 @@ LifecycleNode::trigger_transition(const Transition & transition)
const State &
LifecycleNode::trigger_transition(
const Transition & transition, rcl_lifecycle_transition_key_t & cb_return_code)
const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return trigger_transition(transition.id(), cb_return_code);
}
@ -386,7 +386,7 @@ LifecycleNode::trigger_transition(uint8_t transition_id)
const State &
LifecycleNode::trigger_transition(
uint8_t transition_id, rcl_lifecycle_transition_key_t & cb_return_code)
uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return impl_->trigger_transition(transition_id, cb_return_code);
}
@ -399,7 +399,7 @@ LifecycleNode::configure()
}
const State &
LifecycleNode::configure(rcl_lifecycle_transition_key_t & cb_return_code)
LifecycleNode::configure(LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE, cb_return_code);
@ -413,7 +413,7 @@ LifecycleNode::cleanup()
}
const State &
LifecycleNode::cleanup(rcl_lifecycle_transition_key_t & cb_return_code)
LifecycleNode::cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP, cb_return_code);
@ -427,7 +427,7 @@ LifecycleNode::activate()
}
const State &
LifecycleNode::activate(rcl_lifecycle_transition_key_t & cb_return_code)
LifecycleNode::activate(LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE, cb_return_code);
@ -441,7 +441,7 @@ LifecycleNode::deactivate()
}
const State &
LifecycleNode::deactivate(rcl_lifecycle_transition_key_t & cb_return_code)
LifecycleNode::deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE, cb_return_code);
@ -451,14 +451,14 @@ const State &
LifecycleNode::shutdown()
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_SHUTDOWN);
rcl_lifecycle_shutdown_label);
}
const State &
LifecycleNode::shutdown(rcl_lifecycle_transition_key_t & cb_return_code)
LifecycleNode::shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_SHUTDOWN, cb_return_code);
rcl_lifecycle_shutdown_label, cb_return_code);
}
void