708903e5df
* comply with unused warnings * fix flakiness and add test for transitions * mark flaky test * duplicate const char * in State constructor * linters * correct year in license * mark flaky test
102 lines
2.5 KiB
C++
102 lines
2.5 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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#include "rclcpp_lifecycle/transition.hpp"
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#include <lifecycle_msgs/msg/transition.hpp>
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#include <rcl_lifecycle/data_types.h>
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#include <string>
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namespace rclcpp_lifecycle
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{
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Transition::Transition(uint8_t id, const std::string & label)
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: owns_rcl_transition_handle_(true)
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{
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auto transition_handle = new rcl_lifecycle_transition_t;
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transition_handle->id = id;
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transition_handle->label = label.c_str();
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transition_handle->start = nullptr;
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transition_handle->goal = nullptr;
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transition_handle_ = transition_handle;
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}
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Transition::Transition(
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uint8_t id, const std::string & label,
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State && start, State && goal)
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: owns_rcl_transition_handle_(true)
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{
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auto transition_handle = new rcl_lifecycle_transition_t;
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transition_handle->id = id;
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transition_handle->label = label.c_str();
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auto start_state = new rcl_lifecycle_state_t;
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start_state->id = start.id();
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start_state->label = start.label().c_str();
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auto goal_state = new rcl_lifecycle_state_t;
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goal_state->id = goal.id();
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goal_state->label = start.label().c_str();
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transition_handle->start = start_state;
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transition_handle->goal = goal_state;
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transition_handle_ = transition_handle;
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}
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Transition::Transition(const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle)
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: owns_rcl_transition_handle_(false)
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{
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transition_handle_ = rcl_lifecycle_transition_handle;
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}
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Transition::~Transition()
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{
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if (owns_rcl_transition_handle_) {
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if (transition_handle_->start) {
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delete transition_handle_->start;
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}
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if (transition_handle_->goal) {
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delete transition_handle_->goal;
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}
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delete transition_handle_;
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}
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}
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uint8_t
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Transition::id() const
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{
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return transition_handle_->id;
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}
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std::string
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Transition::label() const
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{
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return transition_handle_->label;
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}
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State
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Transition::start_state() const
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{
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return State(transition_handle_->start);
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}
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State
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Transition::goal_state() const
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{
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return State(transition_handle_->goal);
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}
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} // namespace rclcpp_lifecycle
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