From 9281e32f82ed049eb2e41ec7218dd8bf6a06609a Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Wed, 2 Aug 2017 14:04:34 -0700 Subject: [PATCH] rename RCL_LIFECYCLE_RET_T to lifecycle_msgs::msgs::Transition::TRANSITION_CALLBACK_* (#345) --- .../rclcpp_lifecycle/lifecycle_node.hpp | 28 +++++----- .../lifecycle_node_interface.hpp | 12 ++--- rclcpp_lifecycle/src/lifecycle_node.cpp | 51 +++++++++++------- .../src/lifecycle_node_interface_impl.hpp | 27 +++++----- .../lifecycle_node_interface.cpp | 26 ++++----- .../test/test_callback_exceptions.cpp | 24 +++++---- rclcpp_lifecycle/test/test_lifecycle_node.cpp | 54 +++++++++++-------- .../test/test_register_custom_callbacks.cpp | 50 ++++++++++------- 8 files changed, 156 insertions(+), 116 deletions(-) diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp index 0713ffd..8b2d1b7 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp @@ -373,7 +373,8 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - trigger_transition(const Transition & transition, rcl_lifecycle_ret_t & cb_return_code); + trigger_transition( + const Transition & transition, rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC const State & @@ -381,7 +382,8 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - trigger_transition(uint8_t transition_id, rcl_lifecycle_ret_t & cb_return_code); + trigger_transition( + uint8_t transition_id, rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC const State & @@ -389,7 +391,7 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - configure(rcl_lifecycle_ret_t & cb_return_code); + configure(rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC const State & @@ -397,7 +399,7 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - cleanup(rcl_lifecycle_ret_t & cb_return_code); + cleanup(rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC const State & @@ -405,7 +407,7 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - activate(rcl_lifecycle_ret_t & cb_return_code); + activate(rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC const State & @@ -413,7 +415,7 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - deactivate(rcl_lifecycle_ret_t & cb_return_code); + deactivate(rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC const State & @@ -421,31 +423,31 @@ public: RCLCPP_LIFECYCLE_PUBLIC const State & - shutdown(rcl_lifecycle_ret_t & cb_return_code); + shutdown(rcl_lifecycle_transition_key_t & cb_return_code); RCLCPP_LIFECYCLE_PUBLIC bool - register_on_configure(std::function fcn); + register_on_configure(std::function fcn); RCLCPP_LIFECYCLE_PUBLIC bool - register_on_cleanup(std::function fcn); + register_on_cleanup(std::function fcn); RCLCPP_LIFECYCLE_PUBLIC bool - register_on_shutdown(std::function fcn); + register_on_shutdown(std::function fcn); RCLCPP_LIFECYCLE_PUBLIC bool - register_on_activate(std::function fcn); + register_on_activate(std::function fcn); RCLCPP_LIFECYCLE_PUBLIC bool - register_on_deactivate(std::function fcn); + register_on_deactivate(std::function fcn); RCLCPP_LIFECYCLE_PUBLIC bool - register_on_error(std::function fcn); + register_on_error(std::function fcn); protected: RCLCPP_LIFECYCLE_PUBLIC diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp index 2e17205..3c2339f 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp @@ -49,7 +49,7 @@ public: * \return true by default */ RCLCPP_LIFECYCLE_PUBLIC - virtual rcl_lifecycle_ret_t + virtual rcl_lifecycle_transition_key_t on_configure(const State & previous_state); /// Callback function for cleanup transition @@ -57,7 +57,7 @@ public: * \return true by default */ RCLCPP_LIFECYCLE_PUBLIC - virtual rcl_lifecycle_ret_t + virtual rcl_lifecycle_transition_key_t on_cleanup(const State & previous_state); /// Callback function for shutdown transition @@ -65,7 +65,7 @@ public: * \return true by default */ RCLCPP_LIFECYCLE_PUBLIC - virtual rcl_lifecycle_ret_t + virtual rcl_lifecycle_transition_key_t on_shutdown(const State & previous_state); /// Callback function for activate transition @@ -73,7 +73,7 @@ public: * \return true by default */ RCLCPP_LIFECYCLE_PUBLIC - virtual rcl_lifecycle_ret_t + virtual rcl_lifecycle_transition_key_t on_activate(const State & previous_state); /// Callback function for deactivate transition @@ -81,7 +81,7 @@ public: * \return true by default */ RCLCPP_LIFECYCLE_PUBLIC - virtual rcl_lifecycle_ret_t + virtual rcl_lifecycle_transition_key_t on_deactivate(const State & previous_state); /// Callback function for errorneous transition @@ -89,7 +89,7 @@ public: * \return false by default */ RCLCPP_LIFECYCLE_PUBLIC - virtual rcl_lifecycle_ret_t + virtual rcl_lifecycle_transition_key_t on_error(const State & previous_state); }; diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp index db9efd5..e05f80b 100644 --- a/rclcpp_lifecycle/src/lifecycle_node.cpp +++ b/rclcpp_lifecycle/src/lifecycle_node.cpp @@ -245,40 +245,51 @@ LifecycleNode::get_node_parameters_interface() //// bool -LifecycleNode::register_on_configure(std::function fcn) +LifecycleNode::register_on_configure( + std::function fcn) { - return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING, fcn); + return impl_->register_callback( + lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING, fcn); } bool -LifecycleNode::register_on_cleanup(std::function fcn) +LifecycleNode::register_on_cleanup( + std::function fcn) { - return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP, fcn); + return impl_->register_callback( + lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP, fcn); } bool -LifecycleNode::register_on_shutdown(std::function fcn) +LifecycleNode::register_on_shutdown( + std::function fcn) { - return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN, fcn); + return impl_->register_callback( + lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN, fcn); } bool -LifecycleNode::register_on_activate(std::function fcn) +LifecycleNode::register_on_activate( + std::function fcn) { - return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING, fcn); + return impl_->register_callback( + lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING, fcn); } bool -LifecycleNode::register_on_deactivate(std::function fcn) +LifecycleNode::register_on_deactivate( + std::function fcn) { - return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING, fcn); + return impl_->register_callback( + lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING, fcn); } bool -LifecycleNode::register_on_error(std::function fcn) +LifecycleNode::register_on_error( + std::function fcn) { - return impl_->register_callback(lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING, - fcn); + return impl_->register_callback( + lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING, fcn); } const State & @@ -307,7 +318,7 @@ LifecycleNode::trigger_transition(const Transition & transition) const State & LifecycleNode::trigger_transition( - const Transition & transition, rcl_lifecycle_ret_t & cb_return_code) + const Transition & transition, rcl_lifecycle_transition_key_t & cb_return_code) { return trigger_transition(transition.id(), cb_return_code); } @@ -320,7 +331,7 @@ LifecycleNode::trigger_transition(uint8_t transition_id) const State & LifecycleNode::trigger_transition( - uint8_t transition_id, rcl_lifecycle_ret_t & cb_return_code) + uint8_t transition_id, rcl_lifecycle_transition_key_t & cb_return_code) { return impl_->trigger_transition(transition_id, cb_return_code); } @@ -333,7 +344,7 @@ LifecycleNode::configure() } const State & -LifecycleNode::configure(rcl_lifecycle_ret_t & cb_return_code) +LifecycleNode::configure(rcl_lifecycle_transition_key_t & cb_return_code) { return impl_->trigger_transition( lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE, cb_return_code); @@ -347,7 +358,7 @@ LifecycleNode::cleanup() } const State & -LifecycleNode::cleanup(rcl_lifecycle_ret_t & cb_return_code) +LifecycleNode::cleanup(rcl_lifecycle_transition_key_t & cb_return_code) { return impl_->trigger_transition( lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP, cb_return_code); @@ -361,7 +372,7 @@ LifecycleNode::activate() } const State & -LifecycleNode::activate(rcl_lifecycle_ret_t & cb_return_code) +LifecycleNode::activate(rcl_lifecycle_transition_key_t & cb_return_code) { return impl_->trigger_transition( lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE, cb_return_code); @@ -375,7 +386,7 @@ LifecycleNode::deactivate() } const State & -LifecycleNode::deactivate(rcl_lifecycle_ret_t & cb_return_code) +LifecycleNode::deactivate(rcl_lifecycle_transition_key_t & cb_return_code) { return impl_->trigger_transition( lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE, cb_return_code); @@ -389,7 +400,7 @@ LifecycleNode::shutdown() } const State & -LifecycleNode::shutdown(rcl_lifecycle_ret_t & cb_return_code) +LifecycleNode::shutdown(rcl_lifecycle_transition_key_t & cb_return_code) { return impl_->trigger_transition( lifecycle_msgs::msg::Transition::TRANSITION_SHUTDOWN, cb_return_code); diff --git a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp index 1a158af..8fd12dc 100644 --- a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp +++ b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp @@ -164,7 +164,7 @@ public: } bool - register_callback(std::uint8_t lifecycle_transition, std::function & cb) { cb_map_[lifecycle_transition] = cb; @@ -181,7 +181,7 @@ public: throw std::runtime_error( "Can't get state. State machine is not initialized."); } - rcl_lifecycle_ret_t cb_return_code; + rcl_lifecycle_transition_key_t cb_return_code; auto ret = change_state(req->transition.id, cb_return_code); (void) ret; // TODO(karsten1987): Lifecycle msgs have to be extended to keep both returns @@ -281,7 +281,7 @@ public: } rcl_ret_t - change_state(std::uint8_t lifecycle_transition, rcl_lifecycle_ret_t & cb_return_code) + change_state(std::uint8_t lifecycle_transition, rcl_lifecycle_transition_key_t & cb_return_code) { if (rcl_lifecycle_state_machine_is_initialized(&state_machine_) != RCL_RET_OK) { RCUTILS_LOG_ERROR("Unable to change state for state machine for %s: %s", @@ -312,11 +312,11 @@ public: // error handling ?! // TODO(karsten1987): iterate over possible ret value - if (cb_return_code == RCL_LIFECYCLE_RET_ERROR) { + if (cb_return_code == lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR) { RCUTILS_LOG_WARN("Error occurred while doing error handling.") - rcl_lifecycle_ret_t error_resolved = execute_callback(state_machine_.current_state->id, - initial_state); - if (error_resolved == RCL_LIFECYCLE_RET_OK) { + rcl_lifecycle_transition_key_t error_resolved = execute_callback( + state_machine_.current_state->id, initial_state); + if (error_resolved == lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS) { // We call cleanup on the error state if (rcl_lifecycle_trigger_transition(&state_machine_, error_resolved, true) != RCL_RET_OK) { RCUTILS_LOG_ERROR("Failed to call cleanup on error state") @@ -336,11 +336,12 @@ public: return RCL_RET_OK; } - rcl_lifecycle_ret_t + rcl_lifecycle_transition_key_t execute_callback(unsigned int cb_id, const State & previous_state) { // in case no callback was attached, we forward directly - auto cb_success = RCL_LIFECYCLE_RET_OK; + rcl_lifecycle_transition_key_t cb_success = + lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; auto it = cb_map_.find(cb_id); if (it != cb_map_.end()) { @@ -355,7 +356,7 @@ public: // fprintf(stderr, "Original error msg: %s\n", e.what()); // maybe directly go for error handling here // and pass exception along with it - cb_success = RCL_LIFECYCLE_RET_ERROR; + cb_success = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; } } return cb_success; @@ -364,14 +365,14 @@ public: const State & trigger_transition(uint8_t transition_id) { - rcl_lifecycle_ret_t error; + rcl_lifecycle_transition_key_t error; change_state(transition_id, error); (void) error; return get_current_state(); } const State & - trigger_transition(uint8_t transition_id, rcl_lifecycle_ret_t & cb_return_code) + trigger_transition(uint8_t transition_id, rcl_lifecycle_transition_key_t & cb_return_code) { change_state(transition_id, cb_return_code); return get_current_state(); @@ -393,7 +394,7 @@ public: State current_state_; std::map< std::uint8_t, - std::function> cb_map_; + std::function> cb_map_; using NodeBasePtr = std::shared_ptr; using NodeServicesPtr = std::shared_ptr; diff --git a/rclcpp_lifecycle/src/node_interfaces/lifecycle_node_interface.cpp b/rclcpp_lifecycle/src/node_interfaces/lifecycle_node_interface.cpp index 80c7c68..df596aa 100644 --- a/rclcpp_lifecycle/src/node_interfaces/lifecycle_node_interface.cpp +++ b/rclcpp_lifecycle/src/node_interfaces/lifecycle_node_interface.cpp @@ -12,46 +12,48 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "lifecycle_msgs/msg/transition.hpp" + #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" namespace rclcpp_lifecycle { namespace node_interfaces { -rcl_lifecycle_ret_t +rcl_lifecycle_transition_key_t LifecycleNodeInterface::on_configure(const State &) { - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } -rcl_lifecycle_ret_t +rcl_lifecycle_transition_key_t LifecycleNodeInterface::on_cleanup(const State &) { - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } -rcl_lifecycle_ret_t +rcl_lifecycle_transition_key_t LifecycleNodeInterface::on_shutdown(const State &) { - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } -rcl_lifecycle_ret_t +rcl_lifecycle_transition_key_t LifecycleNodeInterface::on_activate(const State &) { - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } -rcl_lifecycle_ret_t +rcl_lifecycle_transition_key_t LifecycleNodeInterface::on_deactivate(const State &) { - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } -rcl_lifecycle_ret_t +rcl_lifecycle_transition_key_t LifecycleNodeInterface::on_error(const State &) { - return RCL_LIFECYCLE_RET_FAILURE; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE; } } // namespace node_interfaces diff --git a/rclcpp_lifecycle/test/test_callback_exceptions.cpp b/rclcpp_lifecycle/test/test_callback_exceptions.cpp index 88f0c7a..5eb4f45 100644 --- a/rclcpp_lifecycle/test/test_callback_exceptions.cpp +++ b/rclcpp_lifecycle/test/test_callback_exceptions.cpp @@ -46,16 +46,18 @@ public: size_t number_of_callbacks = 0; protected: - rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_configure(const rclcpp_lifecycle::State &) { ++number_of_callbacks; throw std::runtime_error("custom exception raised in configure callback"); } - rcl_lifecycle_ret_t on_error(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_error(const rclcpp_lifecycle::State &) { ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } }; @@ -73,9 +75,9 @@ TEST_F(TestCallbackExceptions, positive_on_error_with_code) { auto test_node = std::make_shared("testnode"); EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id()); - rcl_lifecycle_ret_t ret = RCL_LIFECYCLE_RET_OK; + rcl_lifecycle_transition_key_t ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; test_node->configure(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_ERROR, ret); + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR, ret); } class NegativeCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode @@ -88,16 +90,18 @@ public: size_t number_of_callbacks = 0; protected: - rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_configure(const rclcpp_lifecycle::State &) { ++number_of_callbacks; throw std::runtime_error("custom exception raised in configure callback"); } - rcl_lifecycle_ret_t on_error(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_error(const rclcpp_lifecycle::State &) { ++number_of_callbacks; - return RCL_LIFECYCLE_RET_FAILURE; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE; } }; @@ -115,7 +119,7 @@ TEST_F(TestCallbackExceptions, negative_on_error_with_code) { auto test_node = std::make_shared("testnode"); EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id()); - rcl_lifecycle_ret_t ret = RCL_RET_OK; + rcl_lifecycle_transition_key_t ret = RCL_RET_OK; test_node->configure(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_ERROR, ret); + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR, ret); } diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp index 7d0ae4d..01153e3 100644 --- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp +++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp @@ -29,11 +29,13 @@ using lifecycle_msgs::msg::Transition; struct GoodMood { - static constexpr rcl_lifecycle_ret_t cb_ret = RCL_LIFECYCLE_RET_OK; + static constexpr rcl_lifecycle_transition_key_t cb_ret = + lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; }; struct BadMood { - static constexpr rcl_lifecycle_ret_t cb_ret = RCL_LIFECYCLE_RET_FAILURE; + static constexpr rcl_lifecycle_transition_key_t cb_ret = + lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE; }; class TestDefaultStateMachine : public ::testing::Test @@ -64,57 +66,65 @@ public: size_t number_of_callbacks = 0; protected: - rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_configure(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_CONFIGURING, get_current_state().id()); ++number_of_callbacks; return Mood::cb_ret; } - rcl_lifecycle_ret_t on_activate(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_activate(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_ACTIVATING, get_current_state().id()); ++number_of_callbacks; return Mood::cb_ret; } - rcl_lifecycle_ret_t on_deactivate(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_deactivate(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_DEACTIVATING, get_current_state().id()); ++number_of_callbacks; return Mood::cb_ret; } - rcl_lifecycle_ret_t on_cleanup(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_cleanup(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_CLEANINGUP, get_current_state().id()); ++number_of_callbacks; return Mood::cb_ret; } - rcl_lifecycle_ret_t on_shutdown(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_shutdown(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_SHUTTINGDOWN, get_current_state().id()); ++number_of_callbacks; return Mood::cb_ret; } - rcl_lifecycle_ret_t on_error(const rclcpp_lifecycle::State &); + rcl_lifecycle_transition_key_t + on_error(const rclcpp_lifecycle::State &); }; template<> -rcl_lifecycle_ret_t MoodyLifecycleNode::on_error(const rclcpp_lifecycle::State &) +rcl_lifecycle_transition_key_t +MoodyLifecycleNode::on_error(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_ERRORPROCESSING, get_current_state().id()); ADD_FAILURE(); - return RCL_LIFECYCLE_RET_ERROR; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; } template<> -rcl_lifecycle_ret_t MoodyLifecycleNode::on_error(const rclcpp_lifecycle::State &) +rcl_lifecycle_transition_key_t +MoodyLifecycleNode::on_error(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_ERRORPROCESSING, get_current_state().id()); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } TEST_F(TestDefaultStateMachine, empty_initializer) { @@ -143,25 +153,25 @@ TEST_F(TestDefaultStateMachine, trigger_transition) { TEST_F(TestDefaultStateMachine, trigger_transition_with_error_code) { auto test_node = std::make_shared("testnode"); - rcl_lifecycle_ret_t ret = RCL_LIFECYCLE_RET_ERROR; + rcl_lifecycle_transition_key_t ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; test_node->configure(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret); - ret = RCL_LIFECYCLE_RET_ERROR; + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret); + ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; test_node->activate(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret); - ret = RCL_LIFECYCLE_RET_ERROR; + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret); + ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; test_node->deactivate(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret); - ret = RCL_LIFECYCLE_RET_ERROR; + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret); + ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; test_node->cleanup(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret); - ret = RCL_LIFECYCLE_RET_ERROR; + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret); + ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR; test_node->shutdown(ret); - EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret); + EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret); } TEST_F(TestDefaultStateMachine, good_mood) { diff --git a/rclcpp_lifecycle/test/test_register_custom_callbacks.cpp b/rclcpp_lifecycle/test/test_register_custom_callbacks.cpp index 2ae91b9..8168914 100644 --- a/rclcpp_lifecycle/test/test_register_custom_callbacks.cpp +++ b/rclcpp_lifecycle/test/test_register_custom_callbacks.cpp @@ -46,81 +46,91 @@ public: size_t number_of_callbacks = 0; protected: - rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_configure(const rclcpp_lifecycle::State &) { ADD_FAILURE(); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_activate(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_activate(const rclcpp_lifecycle::State &) { ADD_FAILURE(); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_deactivate(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_deactivate(const rclcpp_lifecycle::State &) { ADD_FAILURE(); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_cleanup(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_cleanup(const rclcpp_lifecycle::State &) { ADD_FAILURE(); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_shutdown(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_shutdown(const rclcpp_lifecycle::State &) { ADD_FAILURE(); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } // Custom callbacks public: - rcl_lifecycle_ret_t on_custom_configure(const rclcpp_lifecycle::State & previous_state) + rcl_lifecycle_transition_key_t + on_custom_configure(const rclcpp_lifecycle::State & previous_state) { EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, previous_state.id()); EXPECT_EQ(State::TRANSITION_STATE_CONFIGURING, get_current_state().id()); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_custom_activate(const rclcpp_lifecycle::State & previous_state) + rcl_lifecycle_transition_key_t + on_custom_activate(const rclcpp_lifecycle::State & previous_state) { EXPECT_EQ(State::PRIMARY_STATE_INACTIVE, previous_state.id()); EXPECT_EQ(State::TRANSITION_STATE_ACTIVATING, get_current_state().id()); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_custom_deactivate(const rclcpp_lifecycle::State & previous_state) + rcl_lifecycle_transition_key_t + on_custom_deactivate(const rclcpp_lifecycle::State & previous_state) { EXPECT_EQ(State::PRIMARY_STATE_ACTIVE, previous_state.id()); EXPECT_EQ(State::TRANSITION_STATE_DEACTIVATING, get_current_state().id()); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_custom_cleanup(const rclcpp_lifecycle::State & previous_state) + rcl_lifecycle_transition_key_t + on_custom_cleanup(const rclcpp_lifecycle::State & previous_state) { EXPECT_EQ(State::PRIMARY_STATE_INACTIVE, previous_state.id()); EXPECT_EQ(State::TRANSITION_STATE_CLEANINGUP, get_current_state().id()); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } - rcl_lifecycle_ret_t on_custom_shutdown(const rclcpp_lifecycle::State &) + rcl_lifecycle_transition_key_t + on_custom_shutdown(const rclcpp_lifecycle::State &) { EXPECT_EQ(State::TRANSITION_STATE_SHUTTINGDOWN, get_current_state().id()); ++number_of_callbacks; - return RCL_LIFECYCLE_RET_OK; + return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS; } };