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
78 lines
1.9 KiB
C++
78 lines
1.9 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/state.hpp"
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#include <lifecycle_msgs/msg/state.hpp>
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#include <rcutils/allocator.h>
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#include <rcutils/strdup.h>
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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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State::State()
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: State(lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, "unknown")
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{}
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State::State(uint8_t id, const std::string & label)
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: owns_rcl_state_handle_(true)
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{
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if (label.empty()) {
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throw std::runtime_error("Lifecycle State cannot have an empty label.");
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}
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auto state_handle = new rcl_lifecycle_state_t;
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state_handle->id = id;
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state_handle->label =
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rcutils_strndup(label.c_str(), label.size(), rcutils_get_default_allocator());
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state_handle_ = state_handle;
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}
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State::State(const rcl_lifecycle_state_t * rcl_lifecycle_state_handle)
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: owns_rcl_state_handle_(false)
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{
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state_handle_ = rcl_lifecycle_state_handle;
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}
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State::~State()
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{
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if (owns_rcl_state_handle_) {
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delete state_handle_;
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}
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}
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uint8_t
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State::id() const
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{
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if (!state_handle_) {
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throw std::runtime_error("Error in state! Internal state_handle is NULL.");
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}
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return state_handle_->id;
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}
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std::string
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State::label() const
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{
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if (!state_handle_) {
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throw std::runtime_error("Error in state! Internal state_handle is NULL.");
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}
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return state_handle_->label;
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}
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} // namespace rclcpp_lifecycle
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