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Fix 393 (#418)

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* correctly copy state label

* correctly copy transition label

* uncrustify

* address comments

* up

* use init and fini functions from rcl
This commit is contained in:
Karsten Knese 2017-12-05 20:22:57 -08:00 • committed by GitHub
parent d823982f22
commit c40f3c25c6
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 272 additions and 71 deletions
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22
rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
View file

@ -19,6 +19,8 @@
#include "rclcpp_lifecycle/visibility_control.h"
#include "rcutils/allocator.h"
// forward declare rcl_state_t
typedef struct rcl_lifecycle_state_t rcl_lifecycle_state_t;
@ -29,13 +31,18 @@ class State
{
public:
RCLCPP_LIFECYCLE_PUBLIC
State();
explicit State(rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
State(uint8_t id, const std::string & label);
State(
uint8_t id,
const std::string & label,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
explicit State(const rcl_lifecycle_state_t * rcl_lifecycle_state_handle);
explicit State(
const rcl_lifecycle_state_t * rcl_lifecycle_state_handle,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
virtual ~State();
@ -49,8 +56,15 @@ public:
label() const;
protected:
RCLCPP_LIFECYCLE_PUBLIC
void
reset();
rcutils_allocator_t allocator_;
bool owns_rcl_state_handle_;
const rcl_lifecycle_state_t * state_handle_;
rcl_lifecycle_state_t * state_handle_;
};
} // namespace rclcpp_lifecycle

22
rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
View file

@ -20,6 +20,8 @@
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/visibility_control.h"
#include "rcutils/allocator.h"
// forward declare rcl_transition_t
typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
@ -33,15 +35,21 @@ public:
Transition() = delete;
RCLCPP_LIFECYCLE_PUBLIC
explicit Transition(uint8_t id, const std::string & label = "");
explicit Transition(
uint8_t id,
const std::string & label = "",
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
Transition(
uint8_t id, const std::string & label,
State && start, State && goal);
State && start, State && goal,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
explicit Transition(const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle);
explicit Transition(
const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
virtual ~Transition();
@ -63,9 +71,15 @@ public:
goal_state() const;
protected:
RCLCPP_LIFECYCLE_PUBLIC
void
reset();
rcutils_allocator_t allocator_;
bool owns_rcl_transition_handle_;
const rcl_lifecycle_transition_t * transition_handle_;
rcl_lifecycle_transition_t * transition_handle_;
};
} // namespace rclcpp_lifecycle