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Added features to rclcpp packages (#1106)

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* Added features to rclcpp packages

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback and improved lifecycle docblock

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added ffedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Fixing error

Signed-off-by: ahcorde <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero 2020-05-15 16:41:25 +02:00 • committed by GitHub
parent 0dd14baa32
commit 731558aafb
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8 changed files with 321 additions and 11 deletions
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229
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -12,6 +12,27 @@
// See the License for the specific language governing permissions and
// limitations under the License.
/** \mainpage rclcpp_lifecycle: Package containing a prototype for lifecycle implementation.
*
* - Lifecycle states: Define the State class. There are 4 primary states: Unconfigured, Inactive,
* Active and Finalized. There are also 6 transition states which are intermediate states during
* a requested transition. Configuring, CleaningUp, ShuttingDown, Activating, Deactivating and
* ErrorProcessing.
* - rclcpp_lifecycle/state.hpp
* - Lifecycle transitions Define the Transition class. There are 7 transitions exposed to a
* supervisory process, they are: create, configure, cleanup, activate, deactivate, shutdown and
* destroy.
* - rclcpp_lifecycle/transition.hpp
* - Lifecycle publisher creates a publisher that allows enabling and disabling message publication.
* - rclcpp_lifecycle/publisher.hpp
* - Lifecycle node: An optional interface class for life cycle node implementations.
* - rclcpp_lifecycle/lifecycle_node.hpp
*
* Some useful internal abstractions and utilities:
* - Macros for controlling symbol visibility on the library
* - rclcpp_lifecycle/visibility_control.h
*/
#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
#define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
@ -127,29 +148,42 @@ public:
virtual ~LifecycleNode();
/// Get the name of the node.
// \return The name of the node.
/**
* \return The name of the node.
*/
RCLCPP_LIFECYCLE_PUBLIC
const char *
get_name() const;
/// Get the namespace of the node.
// \return The namespace of the node.
/// Get the namespace of the node
/**
* \return The namespace of the node.
*/
RCLCPP_LIFECYCLE_PUBLIC
const char *
get_namespace() const;
/// Get the logger of the node.
/** \return The logger of the node. */
/**
* \return The logger of the node.
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Logger
get_logger() const;
/// Create and return a callback group.
/**
* \param[in] group_type callback group type to create by this method.
* \return a callback group
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::CallbackGroup::SharedPtr
create_callback_group(rclcpp::CallbackGroupType group_type);
/// Return the list of callback groups in the node.
/**
* \return list of callback groups in the node.
*/
RCLCPP_LIFECYCLE_PUBLIC
const std::vector<rclcpp::CallbackGroup::WeakPtr> &
get_callback_groups() const;
@ -216,7 +250,10 @@ public:
CallbackT callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
/* Create and return a Client. */
/// Create and return a Client.
/**
* \sa rclcpp::Node::create_client
*/
template<typename ServiceT>
typename rclcpp::Client<ServiceT>::SharedPtr
create_client(
@ -224,7 +261,10 @@ public:
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
/* Create and return a Service. */
/// Create and return a Service.
/**
* \sa rclcpp::Node::create_service
*/
template<typename ServiceT, typename CallbackT>
typename rclcpp::Service<ServiceT>::SharedPtr
create_service(
@ -419,22 +459,42 @@ public:
set_on_parameters_set_callback(
rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
/// Return a vector of existing node names (string).
/**
* \sa rclcpp::Node::get_node_names
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<std::string>
get_node_names() const;
/// Return a map of existing topic names to list of topic types.
/**
* \sa rclcpp::Node::get_topic_names_and_types
*/
RCLCPP_LIFECYCLE_PUBLIC
std::map<std::string, std::vector<std::string>>
get_topic_names_and_types(bool no_demangle = false) const;
/// Return a map of existing service names to list of topic types.
/**
* \sa rclcpp::Node::get_service_names_and_types
*/
RCLCPP_LIFECYCLE_PUBLIC
std::map<std::string, std::vector<std::string>>
get_service_names_and_types() const;
/// Return the number of publishers that are advertised on a given topic.
/**
* \sa rclcpp::Node::count_publishers
*/
RCLCPP_LIFECYCLE_PUBLIC
size_t
count_publishers(const std::string & topic_name) const;
/// Return the number of subscribers who have created a subscription for a given topic.
/**
* \sa rclcpp::Node::count_subscribers
*/
RCLCPP_LIFECYCLE_PUBLIC
size_t
count_subscribers(const std::string & topic_name) const;
@ -477,69 +537,114 @@ public:
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout);
/// Get a clock as a non-const shared pointer which is managed by the node.
/**
* \sa rclcpp::node_interfaces::NodeClock::get_clock
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Clock::SharedPtr
get_clock();
/// Get a clock as a const shared pointer which is managed by the node.
/**
* \sa rclcpp::node_interfaces::NodeClock::get_clock
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Clock::ConstSharedPtr
get_clock() const;
/// Returns current time from the time source specified by clock_type.
/**
* \sa rclcpp::Clock::now
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Time
now() const;
/// Return the Node's internal NodeBaseInterface implementation.
/**
* \sa rclcpp::Node::get_node_base_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_base_interface();
/// Return the Node's internal NodeClockInterface implementation.
/**
* \sa rclcpp::Node::get_node_clock_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeClockInterface::SharedPtr
get_node_clock_interface();
/// Return the Node's internal NodeGraphInterface implementation.
/**
* \sa rclcpp::Node::get_node_graph_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
get_node_graph_interface();
/// Return the Node's internal NodeLoggingInterface implementation.
/**
* \sa rclcpp::Node::get_node_logging_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
get_node_logging_interface();
/// Return the Node's internal NodeTimersInterface implementation.
/**
* \sa rclcpp::Node::get_node_timers_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
get_node_timers_interface();
/// Return the Node's internal NodeTopicsInterface implementation.
/**
* \sa rclcpp::Node::get_node_topics_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
get_node_topics_interface();
/// Return the Node's internal NodeServicesInterface implementation.
/**
* \sa rclcpp::Node::get_node_services_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
get_node_services_interface();
/// Return the Node's internal NodeParametersInterface implementation.
/**
* \sa rclcpp::Node::get_node_parameters_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
get_node_parameters_interface();
/// Return the Node's internal NodeParametersInterface implementation.
/**
* \sa rclcpp::Node::get_node_time_source_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
get_node_time_source_interface();
/// Return the Node's internal NodeWaitablesInterface implementation.
/**
* \sa rclcpp::Node::get_node_waitables_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
get_node_waitables_interface();
/// Return the NodeOptions used when creating this node.
/**
* \sa rclcpp::Node::get_node_options
*/
RCLCPP_LIFECYCLE_PUBLIC
const rclcpp::NodeOptions &
get_node_options() const;
@ -547,100 +652,208 @@ public:
//
// LIFECYCLE COMPONENTS
//
/// Return the current State.
/**
* \return the current state
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
get_current_state();
/// Return a list with the available states.
/**
* \return list with the available states.
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<State>
get_available_states();
/// Return a list with the available transitions.
/**
* \return list with the available transitions.
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<Transition>
get_available_transitions();
/// trigger the specified transition
/// Trigger the specified transition.
/*
* return the new state after this transition
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(const Transition & transition);
/// Trigger the specified transition and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(
const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Trigger the specified transition based on an id.
/*
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(uint8_t transition_id);
/// Trigger the specified transition based on an id and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
trigger_transition(
uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Trigger the configure transition
/*
* \param[out] cb_return_code transition callback return code.
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
configure();
/// Trigger the configure transition and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
configure(LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Trigger the cleanup transition.
/*
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
cleanup();
/// Trigger the cleanup transition and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Trigger the activate transition.
/*
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
activate();
/// Trigger the activate transition and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
activate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Trigger the deactivate transition
/*
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
deactivate();
/// Trigger the deactivate transition and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Trigger the shutdown transition
/*
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown();
/// Trigger the shutdown transition and get the callback return code.
/*
* \param[out] cb_return_code transition callback return code
* \return the new state after this transition
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code);
/// Register the configure callback
/**
* This callback will be called when the transition to this state is triggered
* \param[in] fcn callback function to call
* \return always true
*/
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
/// Register the cleanup callback
/**
* This callback will be called when the transition to this state is triggered
* \param[in] fcn callback function to call
* \return always true
*/
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_cleanup(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
/// Register the shutdown callback
/**
* This callback will be called when the transition to this state is triggered
* \param[in] fcn callback function to call
* \return always true
*/
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_shutdown(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
/// Register the activate callback
/**
* This callback will be called when the transition to this state is triggered
* \param[in] fcn callback function to call
* \return always true
*/
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
/// Register the deactivate callback
/**
* This callback will be called when the transition to this state is triggered
* \param[in] fcn callback function to call
* \return always true
*/
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_deactivate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
/// Register the error callback
/**
* This callback will be called when the transition to this state is triggered
* \param[in] fcn callback function to call
* \return always true
*/
RCLCPP_LIFECYCLE_PUBLIC
bool
register_on_error(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);

23
rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
View file

@ -27,18 +27,33 @@ typedef struct rcl_lifecycle_state_t rcl_lifecycle_state_t;
namespace rclcpp_lifecycle
{
/// Abstract class for the Lifecycle's states.
/**
* There are 4 primary states: Unconfigured, Inactive, Active and Finalized.
*/
class State
{
public:
RCLCPP_LIFECYCLE_PUBLIC
explicit State(rcutils_allocator_t allocator = rcutils_get_default_allocator());
/// State constructor.
/**
* \param[in] id of the state
* \param[in] label of the state
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
State(
uint8_t id,
const std::string & label,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
/// State constructor.
/**
* \param[in] rcl_lifecycle_state_handle structure with the state details
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
explicit State(
const rcl_lifecycle_state_t * rcl_lifecycle_state_handle,
@ -53,10 +68,18 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
State & operator=(const State & rhs);
/// Return the id.
/**
* \return id of the state
*/
RCLCPP_LIFECYCLE_PUBLIC
uint8_t
id() const;
/// Return the label.
/**
* \return label of state
*/
RCLCPP_LIFECYCLE_PUBLIC
std::string
label() const;

40
rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
View file

@ -28,24 +28,48 @@ typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
namespace rclcpp_lifecycle
{
/// The Transition class abstract the Lifecycle's states.
/**
* There are 7 transitions exposed to a supervisory process, they are: create, configure,
* cleanup, activate, deactivate, shutdown and destroy.
*/
class Transition
{
public:
RCLCPP_LIFECYCLE_PUBLIC
Transition() = delete;
/// Transition constructor.
/**
* \param[in] id of the transition
* \param[in] label of the transition
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
explicit Transition(
uint8_t id,
const std::string & label = "",
rcutils_allocator_t allocator = rcutils_get_default_allocator());
/// Transition constructor.
/**
* \param[in] id of the transition
* \param[in] label of the transition
* \param[in] start state of the transition
* \param[in] goal state of the transition
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
Transition(
uint8_t id, const std::string & label,
State && start, State && goal,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
/// Transition constructor.
/**
* \param[in] rcl_lifecycle_transition_handle structure with the transition details
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
explicit Transition(
const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle,
@ -60,18 +84,34 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
Transition & operator=(const Transition & rhs);
/// Return the id.
/**
* \return id of the state
*/
RCLCPP_LIFECYCLE_PUBLIC
uint8_t
id() const;
/// Return the label.
/**
* \return label of the transition
*/
RCLCPP_LIFECYCLE_PUBLIC
std::string
label() const;
/// Return the start state of the transition.
/**
* \return start state of the transition.
*/
RCLCPP_LIFECYCLE_PUBLIC
State
start_state() const;
/// Return the goal state of the transition.
/**
* \return goal state of the transition.
*/
RCLCPP_LIFECYCLE_PUBLIC
State
goal_state() const;