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Cleanup the lifecycle implementation #2027

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merged 7 commits into from
Oct 24, 2022
Merged

Cleanup the lifecycle implementation #2027

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ff8d389
Split lifecycle_node_interface_impl into header and implementation.
clalancette Oct 17, 2022
bbcc1e2
Mark LifecycleNodeInterfaceImpl as final.
clalancette Oct 17, 2022
fd4a2b3
Update documentation about return codes.
clalancette Oct 17, 2022
5626b3a
Mark a bunch of LifecycleNodeInterfaceImpl methods as const.
clalancette Oct 17, 2022
2412f2a
Make most of LifecycleNodeInterfaceImpl private.
clalancette Oct 17, 2022
9569476
Mark some LifecycleNode methods as const.
clalancette Oct 17, 2022
caea626
Disable copies on LifecycleNodeInterfaceImpl.
clalancette Oct 17, 2022
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1 change: 1 addition & 0 deletions rclcpp_lifecycle/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ find_package(rosidl_typesupport_cpp REQUIRED)
### CPP High level library
add_library(rclcpp_lifecycle
src/lifecycle_node.cpp
src/lifecycle_node_interface_impl.cpp
src/managed_entity.cpp
src/node_interfaces/lifecycle_node_interface.cpp
src/state.cpp
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6 changes: 3 additions & 3 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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Expand Up @@ -847,23 +847,23 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<State>
get_available_states();
get_available_states() const;

/// Return a list with the current available transitions.
/**
* \return list with the current available transitions.
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<Transition>
get_available_transitions();
get_available_transitions() const;

/// Return a list with all the transitions.
/**
* \return list with all the transitions in the transition graph.
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<Transition>
get_transition_graph();
get_transition_graph() const;

/// Trigger the specified transition.
/*
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10 changes: 5 additions & 5 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp
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Expand Up @@ -61,39 +61,39 @@ class LifecycleNodeInterface

/// Callback function for cleanup transition
/*
* \return true by default
* \return SUCCESS by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual CallbackReturn
on_cleanup(const State & previous_state);

/// Callback function for shutdown transition
/*
* \return true by default
* \return SUCCESS by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual CallbackReturn
on_shutdown(const State & previous_state);

/// Callback function for activate transition
/*
* \return true by default
* \return SUCCESS by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual CallbackReturn
on_activate(const State & previous_state);

/// Callback function for deactivate transition
/*
* \return true by default
* \return SUCCESS by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual CallbackReturn
on_deactivate(const State & previous_state);

/// Callback function for errorneous transition
/*
* \return false by default
* \return SUCCESS by default
*/
RCLCPP_LIFECYCLE_PUBLIC
virtual CallbackReturn
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6 changes: 3 additions & 3 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
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Expand Up @@ -541,19 +541,19 @@ LifecycleNode::get_current_state()
}

std::vector<State>
LifecycleNode::get_available_states()
LifecycleNode::get_available_states() const
{
return impl_->get_available_states();
}

std::vector<Transition>
LifecycleNode::get_available_transitions()
LifecycleNode::get_available_transitions() const
{
return impl_->get_available_transitions();
}

std::vector<Transition>
LifecycleNode::get_transition_graph()
LifecycleNode::get_transition_graph() const
{
return impl_->get_transition_graph();
}
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