replace rcl_lifecycle_ret_t with lifecycle_msgs__TRANSITION__CALLBACK*

ros2 · Jul 26, 2017 · 2ed8438 · 2ed8438
1 parent c9e4ce4
commit 2ed8438
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Showing 7 changed files with 94 additions and 96 deletions.
diff --git a/rcl_lifecycle/include/rcl_lifecycle/data_types.h b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
@@ -24,10 +24,7 @@ extern "C"
 {
 #endif
 
-typedef int rcl_lifecycle_ret_t;
-#define RCL_LIFECYCLE_RET_OK -1
-#define RCL_LIFECYCLE_RET_FAILURE -2
-#define RCL_LIFECYCLE_RET_ERROR -3
+typedef uint8_t rcl_lifecycle_transition_key_t;
 
 typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
 
@@ -45,8 +42,7 @@ typedef struct rcl_lifecycle_state_t
  // is "unconfigured_shutdown". However, the user only specifies
  // "shutdown". So we register the "unconfigured_shutdown"
  // transition with the impuls "shutdown".
- // TODO(karsten1987): Introduce new type for valid_transition_keys
- rcl_lifecycle_ret_t * valid_transition_keys;
+ rcl_lifecycle_transition_key_t * valid_transition_keys;
  rcl_lifecycle_transition_t * valid_transitions;
  unsigned int valid_transition_size;
 } rcl_lifecycle_state_t;
@@ -59,8 +55,6 @@ typedef struct rcl_lifecycle_transition_t
  const rcl_lifecycle_state_t * goal;
 } rcl_lifecycle_transition_t;
 
-// TODO(karsten1987): Rename map as it is no
-// associated array any longer
 typedef struct rcl_lifecycle_transition_map_t
 {
  rcl_lifecycle_state_t * states;

diff --git a/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h b/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
@@ -62,7 +62,7 @@ RCL_WARN_UNUSED
 const rcl_lifecycle_transition_t *
 rcl_lifecycle_is_valid_callback_transition(
  rcl_lifecycle_state_machine_t * state_machine,
- rcl_lifecycle_ret_t key);
+ rcl_lifecycle_transition_key_t key);
 
 /// Execute a transition
 /*
@@ -80,7 +80,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_lifecycle_trigger_transition(
  rcl_lifecycle_state_machine_t * state_machine,
- rcl_lifecycle_ret_t key, bool publish_notification);
+ rcl_lifecycle_transition_key_t key, bool publish_notification);
 
 RCL_LIFECYCLE_PUBLIC
 void

diff --git a/rcl_lifecycle/include/rcl_lifecycle/transition_map.h b/rcl_lifecycle/include/rcl_lifecycle/transition_map.h
@@ -57,7 +57,7 @@ rcl_ret_t
 rcl_lifecycle_register_transition(
  rcl_lifecycle_transition_map_t * transition_map,
  rcl_lifecycle_transition_t transition,
- rcl_lifecycle_ret_t key,
+ rcl_lifecycle_transition_key_t key,
  const rcl_allocator_t * allocator);
 
 RCL_LIFECYCLE_PUBLIC

diff --git a/rcl_lifecycle/src/default_state_machine.c b/rcl_lifecycle/src/default_state_machine.c
@@ -32,6 +32,10 @@ extern "C"
 {
 #endif
 
+rcl_lifecycle_transition_key_t * empty_transition_key = NULL;
+rcl_lifecycle_transition_t * empty_transition = NULL;
+unsigned int empty_transition_size = 0;
+
 // Primary States
 const rcl_lifecycle_state_t rcl_state_unknown =
 {"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN,
@@ -235,23 +239,23 @@ rcl_lifecycle_init_default_state_machine(
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_configure_success,
- RCL_LIFECYCLE_RET_OK,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_configure_failure,
- RCL_LIFECYCLE_RET_FAILURE,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_configure_error,
- RCL_LIFECYCLE_RET_ERROR,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
@@ -269,23 +273,23 @@ rcl_lifecycle_init_default_state_machine(
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_cleanup_success,
- RCL_LIFECYCLE_RET_OK,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_cleanup_failure,
- RCL_LIFECYCLE_RET_FAILURE,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_cleanup_error,
- RCL_LIFECYCLE_RET_ERROR,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
@@ -303,23 +307,23 @@ rcl_lifecycle_init_default_state_machine(
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_activate_success,
- RCL_LIFECYCLE_RET_OK,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_activate_failure,
- RCL_LIFECYCLE_RET_FAILURE,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_activate_error,
- RCL_LIFECYCLE_RET_ERROR,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
@@ -337,23 +341,23 @@ rcl_lifecycle_init_default_state_machine(
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_deactivate_success,
- RCL_LIFECYCLE_RET_OK,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_deactivate_failure,
- RCL_LIFECYCLE_RET_FAILURE,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_deactivate_error,
- RCL_LIFECYCLE_RET_ERROR,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
@@ -387,23 +391,23 @@ rcl_lifecycle_init_default_state_machine(
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_shutdown_success,
- RCL_LIFECYCLE_RET_OK,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_shutdown_failure,
- RCL_LIFECYCLE_RET_FAILURE,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_shutdown_error,
- RCL_LIFECYCLE_RET_ERROR,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
@@ -413,23 +417,23 @@ rcl_lifecycle_init_default_state_machine(
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_error_success,
- RCL_LIFECYCLE_RET_OK,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_error_failure,
- RCL_LIFECYCLE_RET_FAILURE,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;
  }
  ret = rcl_lifecycle_register_transition(
  &state_machine->transition_map,
  rcl_transition_error_error,
- RCL_LIFECYCLE_RET_ERROR,
+ lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
  allocator);
  if (ret != RCL_RET_OK) {
  goto fail;

diff --git a/rcl_lifecycle/src/rcl_lifecycle.c b/rcl_lifecycle/src/rcl_lifecycle.c
@@ -139,7 +139,7 @@ rcl_lifecycle_state_machine_is_initialized(const rcl_lifecycle_state_machine_t *
 const rcl_lifecycle_transition_t *
 rcl_lifecycle_is_valid_transition(
  rcl_lifecycle_state_machine_t * state_machine,
- rcl_lifecycle_ret_t key)
+ rcl_lifecycle_transition_key_t key)
 {
  unsigned int current_id = state_machine->current_state->id;
  const rcl_lifecycle_state_t * current_state = rcl_lifecycle_get_state(
@@ -158,7 +158,7 @@ rcl_lifecycle_is_valid_transition(
 rcl_ret_t
 rcl_lifecycle_trigger_transition(
  rcl_lifecycle_state_machine_t * state_machine,
- rcl_lifecycle_ret_t key, bool publish_notification)
+ rcl_lifecycle_transition_key_t key, bool publish_notification)
 {
  const rcl_lifecycle_transition_t * transition =
  rcl_lifecycle_is_valid_transition(state_machine, key);

diff --git a/rcl_lifecycle/src/transition_map.c b/rcl_lifecycle/src/transition_map.c
@@ -107,7 +107,7 @@ rcl_ret_t
 rcl_lifecycle_register_transition(
  rcl_lifecycle_transition_map_t * transition_map,
  rcl_lifecycle_transition_t transition,
- rcl_lifecycle_ret_t key,
+ rcl_lifecycle_transition_key_t key,
  const rcutils_allocator_t * allocator)
 {
  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
@@ -154,9 +154,9 @@ rcl_lifecycle_register_transition(
  }
  state->valid_transitions = new_valid_transitions;
 
- rcl_lifecycle_ret_t * new_valid_transition_keys = allocator->reallocate(
+ rcl_lifecycle_transition_key_t * new_valid_transition_keys = allocator->reallocate(
  state->valid_transition_keys,
- state->valid_transition_size * sizeof(rcl_lifecycle_ret_t),
+ state->valid_transition_size * sizeof(rcl_lifecycle_transition_key_t),
  allocator->state);
  if (!new_valid_transitions) {
  RCL_SET_ERROR_MSG(