Warn unused (#327)

* comply with unused warnings

* fix flakiness and add test for transitions

* mark flaky test

* duplicate const char * in State constructor

* linters

* correct year in license

* mark flaky test
This commit is contained in:
Karsten Knese 2017-05-25 19:52:50 -07:00 committed by GitHub
parent 5777bbee79
commit 708903e5df
5 changed files with 118 additions and 16 deletions

View file

@ -63,9 +63,15 @@ public:
if (rcl_lifecycle_state_machine_is_initialized(&state_machine_) != RCL_RET_OK) {
fprintf(stderr, "%s:%u, FATAL: rcl_state_machine got destroyed externally.\n",
__FILE__, __LINE__);
// TODO(karsten1987): Remove else. It should always be possible to call
// fini on state machine, also when not initialized
} else {
rcl_lifecycle_state_machine_fini(&state_machine_,
node_base_interface_->get_rcl_node_handle());
if (rcl_lifecycle_state_machine_fini(&state_machine_,
node_base_interface_->get_rcl_node_handle()) != RCL_RET_OK)
{
fprintf(stderr, "%s:%u, FATAL: failed to destroy rcl_state_machine.\n",
__FILE__, __LINE__);
}
}
}
@ -304,16 +310,20 @@ public:
rcl_lifecycle_ret_t error_resolved = execute_callback(state_machine_.current_state->id,
initial_state);
if (error_resolved == RCL_RET_OK) {
fprintf(stderr, "Exception handling was successful\n");
// fprintf(stderr, "Exception handling was successful\n");
// We call cleanup on the error state
rcl_lifecycle_trigger_transition(
&state_machine_, error_resolved, true);
fprintf(stderr, "current state after error callback%s\n",
state_machine_.current_state->label);
if (rcl_lifecycle_trigger_transition(&state_machine_, error_resolved, true) != RCL_RET_OK) {
fprintf(stderr, "Failed to call cleanup on error state\n");
return false;
}
// fprintf(stderr, "current state after error callback%s\n",
// state_machine_.current_state->label);
} else {
// We call shutdown on the error state
rcl_lifecycle_trigger_transition(
&state_machine_, error_resolved, true);
if (rcl_lifecycle_trigger_transition(&state_machine_, error_resolved, true) != RCL_RET_OK) {
fprintf(stderr, "Failed to call cleanup on error state\n");
return false;
}
}
}
// This true holds in both cases where the actual callback

View file

@ -15,6 +15,9 @@
#include "rclcpp_lifecycle/state.hpp"
#include <lifecycle_msgs/msg/state.hpp>
#include <rcutils/allocator.h>
#include <rcutils/strdup.h>
#include <rcl_lifecycle/data_types.h>
#include <string>
@ -35,7 +38,8 @@ State::State(uint8_t id, const std::string & label)
auto state_handle = new rcl_lifecycle_state_t;
state_handle->id = id;
state_handle->label = label.c_str();
state_handle->label =
rcutils_strndup(label.c_str(), label.size(), rcutils_get_default_allocator());
state_handle_ = state_handle;
}
@ -56,12 +60,18 @@ State::~State()
uint8_t
State::id() const
{
if (!state_handle_) {
throw std::runtime_error("Error in state! Internal state_handle is NULL.");
}
return state_handle_->id;
}
std::string
State::label() const
{
if (!state_handle_) {
throw std::runtime_error("Error in state! Internal state_handle is NULL.");
}
return state_handle_->label;
}

View file

@ -90,17 +90,13 @@ Transition::label() const
State
Transition::start_state() const
{
return State(
transition_handle_->start->id,
transition_handle_->start->label);
return State(transition_handle_->start);
}
State
Transition::goal_state() const
{
return State(
transition_handle_->goal->id,
transition_handle_->goal->label);
return State(transition_handle_->goal);
}
} // namespace rclcpp_lifecycle