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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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27
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
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@ -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>;