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Type conversions fixes (#901)

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* Fix type conversions

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>

* Add static_casts

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>

* Address PR comments

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>

* Remove one time use variable

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>
This commit is contained in:
monidzik 2019-11-22 19:23:55 +01:00 • committed by Dirk Thomas
parent b1dc6f36b9
commit 88a342db29
9 changed files with 37 additions and 33 deletions
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18
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -224,7 +224,7 @@ public:
resp->success = false;
return;
}
transition_id = rcl_transition->id;
transition_id = static_cast<std::uint8_t>(rcl_transition->id);
}
node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code;
@ -289,11 +289,11 @@ public:
for (uint8_t i = 0; i < state_machine_.current_state->valid_transition_size; ++i) {
auto rcl_transition = state_machine_.current_state->valid_transitions[i];
lifecycle_msgs::msg::TransitionDescription trans_desc;
trans_desc.transition.id = rcl_transition.id;
trans_desc.transition.id = static_cast<uint8_t>(rcl_transition.id);
trans_desc.transition.label = rcl_transition.label;
trans_desc.start_state.id = rcl_transition.start->id;
trans_desc.start_state.id = static_cast<uint8_t>(rcl_transition.start->id);
trans_desc.start_state.label = rcl_transition.start->label;
trans_desc.goal_state.id = rcl_transition.goal->id;
trans_desc.goal_state.id = static_cast<uint8_t>(rcl_transition.goal->id);
trans_desc.goal_state.label = rcl_transition.goal->label;
resp->available_transitions.push_back(trans_desc);
}
@ -315,11 +315,11 @@ public:
for (uint8_t i = 0; i < state_machine_.transition_map.transitions_size; ++i) {
auto rcl_transition = state_machine_.transition_map.transitions[i];
lifecycle_msgs::msg::TransitionDescription trans_desc;
trans_desc.transition.id = rcl_transition.id;
trans_desc.transition.id = static_cast<uint8_t>(rcl_transition.id);
trans_desc.transition.label = rcl_transition.label;
trans_desc.start_state.id = rcl_transition.start->id;
trans_desc.start_state.id = static_cast<uint8_t>(rcl_transition.start->id);
trans_desc.start_state.label = rcl_transition.start->label;
trans_desc.goal_state.id = rcl_transition.goal->id;
trans_desc.goal_state.id = static_cast<uint8_t>(rcl_transition.goal->id);
trans_desc.goal_state.label = rcl_transition.goal->label;
resp->available_transitions.push_back(trans_desc);
}
@ -434,7 +434,7 @@ public:
// in case no callback was attached, we forward directly
auto cb_success = node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
auto it = cb_map_.find(cb_id);
auto it = cb_map_.find(static_cast<uint8_t>(cb_id));
if (it != cb_map_.end()) {
auto callback = it->second;
try {
@ -460,7 +460,7 @@ public:
auto transition =
rcl_lifecycle_get_transition_by_label(state_machine_.current_state, transition_label);
if (transition) {
change_state(transition->id, cb_return_code);
change_state(static_cast<uint8_t>(transition->id), cb_return_code);
}
return get_current_state();
}

2
rclcpp_lifecycle/src/state.cpp
View file

@ -130,7 +130,7 @@ State::id() const
if (!state_handle_) {
throw std::runtime_error("Error in state! Internal state_handle is NULL.");
}
return state_handle_->id;
return static_cast<uint8_t>(state_handle_->id);
}
std::string

2
rclcpp_lifecycle/src/transition.cpp
View file

@ -213,7 +213,7 @@ Transition::id() const
if (!transition_handle_) {
throw std::runtime_error("internal transition_handle is null");
}
return transition_handle_->id;
return static_cast<uint8_t>(transition_handle_->id);
}
std::string