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fixes #550
The biggest change (this will break existing API) here is that a
rcl_lifecycle_transition_key_t
now is a struct has thus haslabel
andid
. This label will then be presented when callingget_available_transitions
. There is a second service introduced calledget_transition_graph
which yields all available transitions within the state machine. This is then helpful when introspecting the state machine.I am not feeling a hundred percent convinced that the naming here is perfect, so I'd ask for feedback between the following separation:
configure_to_shutdown
orconfigure_to_configuring
.configure
orshutdown
and one key can be used to trigger different individual transitions. The example here could beshutdown
which can be used to triggerconfigure_to_shutdown
orinactive_to_shutdown
.Any feedback on naming here?