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rename RCL_LIFECYCLE_RET_T to lifecycle_msgs::msgs::Transition::TRANSITION_CALLBACK_* (#345)

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This commit is contained in:
Karsten Knese 2017-08-02 14:04:34 -07:00 • committed by GitHub
parent a41245e6bf
commit 9281e32f82
8 changed files with 156 additions and 116 deletions
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51
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -245,40 +245,51 @@ LifecycleNode::get_node_parameters_interface()
////
bool
LifecycleNode::register_on_configure(std::function<rcl_lifecycle_ret_t(const State &)> fcn)
LifecycleNode::register_on_configure(
std::function<rcl_lifecycle_transition_key_t(const State &)> 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<rcl_lifecycle_ret_t(const State &)> fcn)
LifecycleNode::register_on_cleanup(
std::function<rcl_lifecycle_transition_key_t(const State &)> 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<rcl_lifecycle_ret_t(const State &)> fcn)
LifecycleNode::register_on_shutdown(
std::function<rcl_lifecycle_transition_key_t(const State &)> 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<rcl_lifecycle_ret_t(const State &)> fcn)
LifecycleNode::register_on_activate(
std::function<rcl_lifecycle_transition_key_t(const State &)> 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<rcl_lifecycle_ret_t(const State &)> fcn)
LifecycleNode::register_on_deactivate(
std::function<rcl_lifecycle_transition_key_t(const State &)> 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<rcl_lifecycle_ret_t(const State &)> fcn)
LifecycleNode::register_on_error(
std::function<rcl_lifecycle_transition_key_t(const State &)> 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);

27
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -164,7 +164,7 @@ public:
}
bool
register_callback(std::uint8_t lifecycle_transition, std::function<rcl_lifecycle_ret_t(
register_callback(std::uint8_t lifecycle_transition, std::function<rcl_lifecycle_transition_key_t(
const State &)> & 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<rcl_lifecycle_ret_t(const State &)>> cb_map_;
std::function<rcl_lifecycle_transition_key_t(const State &)>> cb_map_;
using NodeBasePtr = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
using NodeServicesPtr = std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>;

26
rclcpp_lifecycle/src/node_interfaces/lifecycle_node_interface.cpp
View file

@ -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