731558aafb
* Added features to rclcpp packages Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback and improved lifecycle docblock Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added ffedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixing error Signed-off-by: ahcorde <ahcorde@gmail.com>
132 lines
3.4 KiB
C++
132 lines
3.4 KiB
C++
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_LIFECYCLE__TRANSITION_HPP_
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#define RCLCPP_LIFECYCLE__TRANSITION_HPP_
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#include <string>
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#include "rclcpp_lifecycle/state.hpp"
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#include "rclcpp_lifecycle/visibility_control.h"
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#include "rcutils/allocator.h"
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// forward declare rcl_transition_t
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typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
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namespace rclcpp_lifecycle
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{
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/// The Transition class abstract the Lifecycle's states.
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/**
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* There are 7 transitions exposed to a supervisory process, they are: create, configure,
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* cleanup, activate, deactivate, shutdown and destroy.
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*/
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class Transition
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{
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public:
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RCLCPP_LIFECYCLE_PUBLIC
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Transition() = delete;
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/// Transition constructor.
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/**
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* \param[in] id of the transition
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* \param[in] label of the transition
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* \param[in] allocator a valid allocator used to initialized the state.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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explicit Transition(
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uint8_t id,
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const std::string & label = "",
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rcutils_allocator_t allocator = rcutils_get_default_allocator());
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/// Transition constructor.
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/**
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* \param[in] id of the transition
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* \param[in] label of the transition
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* \param[in] start state of the transition
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* \param[in] goal state of the transition
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* \param[in] allocator a valid allocator used to initialized the state.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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Transition(
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uint8_t id, const std::string & label,
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State && start, State && goal,
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rcutils_allocator_t allocator = rcutils_get_default_allocator());
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/// Transition constructor.
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/**
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* \param[in] rcl_lifecycle_transition_handle structure with the transition details
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* \param[in] allocator a valid allocator used to initialized the state.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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explicit Transition(
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const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle,
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rcutils_allocator_t allocator = rcutils_get_default_allocator());
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RCLCPP_LIFECYCLE_PUBLIC
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Transition(const Transition & rhs);
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RCLCPP_LIFECYCLE_PUBLIC
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virtual ~Transition();
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RCLCPP_LIFECYCLE_PUBLIC
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Transition & operator=(const Transition & rhs);
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/// Return the id.
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/**
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* \return id of the state
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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uint8_t
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id() const;
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/// Return the label.
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/**
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* \return label of the transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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std::string
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label() const;
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/// Return the start state of the transition.
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/**
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* \return start state of the transition.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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State
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start_state() const;
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/// Return the goal state of the transition.
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/**
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* \return goal state of the transition.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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State
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goal_state() const;
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protected:
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RCLCPP_LIFECYCLE_PUBLIC
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void
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reset();
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rcutils_allocator_t allocator_;
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bool owns_rcl_transition_handle_;
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rcl_lifecycle_transition_t * transition_handle_;
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};
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} // namespace rclcpp_lifecycle
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#endif // RCLCPP_LIFECYCLE__TRANSITION_HPP_
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