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*_raw function (#388)

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* publish_raw function

* subscription traits

* listener raw

* rebased

* cleanup and linters

* explicit test for deleter in unique_ptr

* add missing copyright

* cleanup

* add rmw_serialize functions

* linters

* explicit differentiation between take and take_raw

* cleanup debug messages

* rename to rmw_message_init`

* address comments

* address review comments

* raw->serialized

* use size_t (#497)
This commit is contained in:
Karsten Knese 2018-06-16 10:36:00 +02:00 • committed by GitHub
parent 1556b6edf4
commit ec17d68b41
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18 changed files with 607 additions and 75 deletions
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15
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
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@ -297,11 +297,14 @@ public:
return RCL_RET_ERROR;
}
constexpr bool publish_update = true;
// keep the initial state to pass to a transition callback
State initial_state(state_machine_.current_state);
uint8_t transition_id = lifecycle_transition;
if (rcl_lifecycle_trigger_transition(&state_machine_, transition_id, true) != RCL_RET_OK) {
if (rcl_lifecycle_trigger_transition(
&state_machine_, transition_id, publish_update) != RCL_RET_OK)
{
RCUTILS_LOG_ERROR("Unable to start transition %u from current state %s: %s",
transition_id, state_machine_.current_state->label, rcl_get_error_string_safe())
return RCL_RET_ERROR;
@ -311,7 +314,7 @@ public:
state_machine_.current_state->id, initial_state);
if (rcl_lifecycle_trigger_transition(
&state_machine_, cb_return_code, true) != RCL_RET_OK)
&state_machine_, cb_return_code, publish_update) != RCL_RET_OK)
{
RCUTILS_LOG_ERROR("Failed to finish transition %u. Current state is now: %s",
transition_id, state_machine_.current_state->label)
@ -326,13 +329,17 @@ public:
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) {
if (rcl_lifecycle_trigger_transition(
&state_machine_, error_resolved, publish_update) != RCL_RET_OK)
{
RCUTILS_LOG_ERROR("Failed to call cleanup on error state")
return RCL_RET_ERROR;
}
} else {
// We call shutdown on the error state
if (rcl_lifecycle_trigger_transition(&state_machine_, error_resolved, true) != RCL_RET_OK) {
if (rcl_lifecycle_trigger_transition(
&state_machine_, error_resolved, publish_update) != RCL_RET_OK)
{
RCUTILS_LOG_ERROR("Failed to call cleanup on error state")
return RCL_RET_ERROR;
}