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make rcl_lifecycle_com_interface optional in lifecycle nodes #882

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merged 9 commits into from
Mar 23, 2021
Merged

make rcl_lifecycle_com_interface optional in lifecycle nodes #882

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5e0c838
make rcl_lifecycle_com_interface optional
Karsten1987 Jan 6, 2021
703a112
only disable services, not transition event publisher
Karsten1987 Jan 7, 2021
42a1ca0
flag if com interface is enabled
Karsten1987 Mar 2, 2021
4eb1167
use options struct
Karsten1987 Mar 20, 2021
1c460d0
attach allocator to state machine struct
Karsten1987 Mar 20, 2021
9347bdc
validate allocator before using in fini
Karsten1987 Mar 22, 2021
f47faa7
set allocator in default options
Karsten1987 Mar 23, 2021
c1fec11
Update rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
Karsten1987 Mar 23, 2021
5328e6b
remove allocator check in fini
Karsten1987 Mar 23, 2021
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2 changes: 2 additions & 0 deletions rcl_lifecycle/include/rcl_lifecycle/data_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,8 @@ typedef struct rcl_lifecycle_transition_map_t
/// It contains the communication interfac with the ROS world
typedef struct rcl_lifecycle_com_interface_t
{
/// Flag indicating whether the com interface is enabled or not.
bool enabled;
/// Handle to the node used to create the publisher and the services
rcl_node_t * node_handle;
/// Event used to publish the transitions
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3 changes: 3 additions & 0 deletions rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -228,6 +228,8 @@ rcl_lifecycle_get_zero_initialized_state_machine();
* available transitions
* \param[in] ts_srv_get_transition_graph pointer to the service that allows to get transitions from
* the graph
* \param[in] enable_com_interface if `false` the services listed above are not initialized,
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* if true all services are available and active
* \param[in] default_states if `true` a new default state machine is initialized, otherwise
* the state_machine pointer is only used to initialize the interfaces
* \param[in] allocator a valid allocator used to initialized the state machine
Expand All @@ -247,6 +249,7 @@ rcl_lifecycle_state_machine_init(
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
const rosidl_service_type_support_t * ts_srv_get_transition_graph,
bool enable_com_interface,
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bool default_states,
const rcl_allocator_t * allocator);

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167 changes: 121 additions & 46 deletions rcl_lifecycle/src/com_interface.c
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Original file line number Diff line number Diff line change
Expand Up @@ -68,35 +68,104 @@ rcl_lifecycle_com_interface_init(
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
const rosidl_service_type_support_t * ts_srv_get_transition_graph)
{
rcl_ret_t ret = rcl_lifecycle_com_interface_publisher_init(
com_interface, node_handle, ts_pub_notify);
if (ret != RCL_RET_OK) {
return ret;
}

ret = rcl_lifecycle_com_interface_services_init(
com_interface,
node_handle,
ts_srv_change_state,
ts_srv_get_state,
ts_srv_get_available_states,
ts_srv_get_available_transitions,
ts_srv_get_transition_graph);

if (RCL_RET_OK != ret) {
// cleanup the publisher, which was correctly initialized
rcl_ret_t ret_fini = rcl_lifecycle_com_interface_publisher_fini(com_interface, node_handle);
// warning is already set, no need to log anything here
(void) ret_fini;
}

return ret;
}

rcl_ret_t
rcl_lifecycle_com_interface_publisher_init(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle,
const rosidl_message_type_support_t * ts_pub_notify)
{
RCL_CHECK_ARGUMENT_FOR_NULL(com_interface, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_handle, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ts_pub_notify, RCL_RET_INVALID_ARGUMENT);

// initialize publisher
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&com_interface->pub_transition_event, node_handle,
ts_pub_notify, pub_transition_event_topic, &publisher_options);

if (ret != RCL_RET_OK) {
goto fail;
}

// initialize static message for notification
lifecycle_msgs__msg__TransitionEvent__init(&msg);

return RCL_RET_OK;

fail:
// error message is already logged on failure
ret = rcl_lifecycle_com_interface_publisher_fini(com_interface, node_handle);
(void) ret;
return RCL_RET_ERROR;
}

rcl_ret_t
rcl_lifecycle_com_interface_publisher_fini(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle)
{
lifecycle_msgs__msg__TransitionEvent__fini(&msg);

rcl_ret_t ret = rcl_publisher_fini(
&com_interface->pub_transition_event, node_handle);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher");
}

return ret;
}

rcl_ret_t
rcl_lifecycle_com_interface_services_init(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle,
const rosidl_service_type_support_t * ts_srv_change_state,
const rosidl_service_type_support_t * ts_srv_get_state,
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
const rosidl_service_type_support_t * ts_srv_get_transition_graph)
{
RCL_CHECK_ARGUMENT_FOR_NULL(com_interface, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_handle, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_change_state, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_state, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_available_states, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_available_transitions, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_transition_graph, RCL_RET_INVALID_ARGUMENT);

// initialize publisher
{
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&com_interface->pub_transition_event, node_handle,
ts_pub_notify, pub_transition_event_topic, &publisher_options);

if (ret != RCL_RET_OK) {
goto fail;
}

// initialize static message for notification
lifecycle_msgs__msg__TransitionEvent__init(&msg);
}
rcl_ret_t ret = RCL_RET_OK;

// initialize change state service
{
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
ret = rcl_service_init(
&com_interface->srv_change_state, node_handle,
ts_srv_change_state, srv_change_state_service, &service_options);

Expand All @@ -108,7 +177,7 @@ rcl_lifecycle_com_interface_init(
// initialize get state service
{
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
ret = rcl_service_init(
&com_interface->srv_get_state, node_handle,
ts_srv_get_state, srv_get_state_service, &service_options);

Expand All @@ -120,7 +189,7 @@ rcl_lifecycle_com_interface_init(
// initialize get available states service
{
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
ret = rcl_service_init(
&com_interface->srv_get_available_states, node_handle,
ts_srv_get_available_states, srv_get_available_states_service, &service_options);

Expand All @@ -132,7 +201,7 @@ rcl_lifecycle_com_interface_init(
// initialize get available transitions service
{
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
ret = rcl_service_init(
&com_interface->srv_get_available_transitions, node_handle,
ts_srv_get_available_transitions, srv_get_available_transitions_service, &service_options);

Expand All @@ -144,7 +213,7 @@ rcl_lifecycle_com_interface_init(
// initialize get transition graph service
{
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
ret = rcl_service_init(
&com_interface->srv_get_transition_graph, node_handle,
ts_srv_get_transition_graph, srv_get_transition_graph, &service_options);

Expand All @@ -155,32 +224,14 @@ rcl_lifecycle_com_interface_init(
return RCL_RET_OK;

fail:
if (RCL_RET_OK != rcl_publisher_fini(&com_interface->pub_transition_event, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher");
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_change_state, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service");
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_state, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service");
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_states, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service");
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_transitions, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service");
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_transition_graph, node_handle)) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_transition_graph service");
}

// error messages already logged on failure
ret = rcl_lifecycle_com_interface_services_fini(com_interface, node_handle);
(void) ret;
return RCL_RET_ERROR;
}

rcl_ret_t
rcl_lifecycle_com_interface_fini(
rcl_lifecycle_com_interface_services_fini(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle)
{
Expand All @@ -191,6 +242,8 @@ rcl_lifecycle_com_interface_fini(
rcl_ret_t ret = rcl_service_fini(
&com_interface->srv_get_transition_graph, node_handle);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_transition_graph service");
fcn_ret = RCL_RET_ERROR;
}
}
Expand All @@ -200,6 +253,8 @@ rcl_lifecycle_com_interface_fini(
rcl_ret_t ret = rcl_service_fini(
&com_interface->srv_get_available_transitions, node_handle);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service");
fcn_ret = RCL_RET_ERROR;
}
}
Expand All @@ -209,6 +264,7 @@ rcl_lifecycle_com_interface_fini(
rcl_ret_t ret = rcl_service_fini(
&com_interface->srv_get_available_states, node_handle);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service");
fcn_ret = RCL_RET_ERROR;
}
}
Expand All @@ -218,6 +274,7 @@ rcl_lifecycle_com_interface_fini(
rcl_ret_t ret = rcl_service_fini(
&com_interface->srv_get_state, node_handle);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service");
fcn_ret = RCL_RET_ERROR;
}
}
Expand All @@ -227,17 +284,35 @@ rcl_lifecycle_com_interface_fini(
rcl_ret_t ret = rcl_service_fini(
&com_interface->srv_change_state, node_handle);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service");
fcn_ret = RCL_RET_ERROR;
}
}

// destroy the publisher
return fcn_ret;
}

rcl_ret_t
rcl_lifecycle_com_interface_fini(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle)
{
rcl_ret_t fcn_ret = RCL_RET_OK;

// destroy the services
{
lifecycle_msgs__msg__TransitionEvent__fini(&msg);
rcl_ret_t ret = rcl_lifecycle_com_interface_services_fini(
com_interface, node_handle);
if (RCL_RET_OK != ret) {
fcn_ret = RCL_RET_ERROR;
}
}

rcl_ret_t ret = rcl_publisher_fini(
&com_interface->pub_transition_event, node_handle);
if (ret != RCL_RET_OK) {
// destroy the event publisher
{
rcl_ret_t ret = rcl_lifecycle_com_interface_publisher_fini(
com_interface, node_handle);
if (RCL_RET_OK != ret) {
fcn_ret = RCL_RET_ERROR;
}
}
Expand Down
30 changes: 30 additions & 0 deletions rcl_lifecycle/src/com_interface.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,36 @@ rcl_lifecycle_com_interface_init(
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
const rosidl_service_type_support_t * ts_srv_get_transition_graph);

rcl_ret_t
RCL_WARN_UNUSED
rcl_lifecycle_com_interface_publisher_init(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle,
const rosidl_message_type_support_t * ts_pub_notify);

rcl_ret_t
RCL_WARN_UNUSED
rcl_lifecycle_com_interface_publisher_fini(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle);

rcl_ret_t
RCL_WARN_UNUSED
rcl_lifecycle_com_interface_services_init(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle,
const rosidl_service_type_support_t * ts_srv_change_state,
const rosidl_service_type_support_t * ts_srv_get_state,
const rosidl_service_type_support_t * ts_srv_get_available_states,
const rosidl_service_type_support_t * ts_srv_get_available_transitions,
const rosidl_service_type_support_t * ts_srv_get_transition_graph);

rcl_ret_t
RCL_WARN_UNUSED
rcl_lifecycle_com_interface_services_fini(
rcl_lifecycle_com_interface_t * com_interface,
rcl_node_t * node_handle);

rcl_ret_t
RCL_WARN_UNUSED
rcl_lifecycle_com_interface_fini(
Expand Down
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