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delete TRANSITION_SHUTDOWN (#576)

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Karsten Knese 2018-10-31 19:20:03 -07:00 • committed by GitHub
parent e30f31551e
commit ec834d321b
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1 changed files with 21 additions and 1 deletions
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22
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
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@ -202,8 +202,28 @@ public:
throw std::runtime_error(
"Can't get state. State machine is not initialized.");
}
auto transition_id = req->transition.id;
// if there's a label attached to the request,
// we check the transition attached to this label.
// we further can't compare the id of the looked up transition
// because ros2 service call defaults all intergers to zero.
// that means if we call ros2 service call ... {transition: {label: shutdown}}
// the id of the request is 0 (zero) whereas the id from the lookup up transition
// can be different.
// the result of this is that the label takes presedence of the id.
if (req->transition.label.size() != 0) {
auto rcl_transition = rcl_lifecycle_get_transition_by_label(
state_machine_.current_state, req->transition.label.c_str());
if (rcl_transition == nullptr) {
resp->success = false;
return;
}
transition_id = rcl_transition->id;
}
node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code;
auto ret = change_state(req->transition.id, cb_return_code);
auto ret = change_state(transition_id, cb_return_code);
(void) ret;
// TODO(karsten1987): Lifecycle msgs have to be extended to keep both returns
// 1. return is the actual transition