Fixes for ros2/rcl PR #882 (#66)

* Build against rcl master Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Build master for rolling only Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Use new RCL lifecycle API Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Fix example lifecycle node Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * fixed compiler warning Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> Co-authored-by: Jan Staschulat <jan.staschulat@de.bosch.com>
ros2 · Mar 26, 2021 · 90f47c9 · 90f47c9
1 parent 22856c0
commit 90f47c9
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Showing 6 changed files with 28 additions and 20 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -1,4 +1,4 @@
-name: CI RCLC
+name: CI RCLC Rolling
 
 on:
   push:
@@ -17,14 +17,8 @@ jobs:
       matrix:
         # os: [ ubuntu-20.04, windows-latest, macOS-latest ]
         os: [ ubuntu-20.04 ]
-        ros_distribution: [ foxy, rolling, dashing ]
+        ros_distribution: [ rolling ]
         include:
-          - docker_image: ubuntu:bionic
-            ros_distribution: dashing
-
-          - docker_image: ubuntu:focal
-            ros_distribution: foxy
-
           - docker_image: ubuntu:focal
             ros_distribution: rolling
     container:
@@ -42,5 +36,5 @@ jobs:
     - uses : ros-tooling/action-ros-ci@0.1.0
       with:
         package-name: "rclc rclc_examples rclc_lifecycle"
-        vcs-repo-file-url: ""
-        target-ros2-distro: ${{ matrix.ros_distribution }}
+        vcs-repo-file-url: dependencies.repos
+        target-ros2-distro: ${{ matrix.ros_distribution }}
diff --git a/dependencies.repos b/dependencies.repos
@@ -0,0 +1,4 @@
+- git:
+    local-name: rcl
+    uri: https://github.com/ros2/rcl.git
+    version: master
diff --git a/rclc_examples/src/example_lifecycle_node.c b/rclc_examples/src/example_lifecycle_node.c
@@ -81,7 +81,8 @@ int main(int argc, const char * argv[])
     &lifecycle_node,
     &my_node,
     &state_machine_,
-    &allocator);
+    &allocator,
+    true);
   if (rc != RCL_RET_OK) {
     printf("Error in creating lifecycle node.\n");
     return -1;

diff --git a/rclc_lifecycle/include/rclc_lifecycle/rclc_lifecycle.h b/rclc_lifecycle/include/rclc_lifecycle/rclc_lifecycle.h
@@ -46,7 +46,8 @@ rclc_make_node_a_lifecycle_node(
   rclc_lifecycle_node_t * lifecycle_node,
   rcl_node_t * node,
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_allocator_t * allocator);
+  rcl_allocator_t * allocator,
+  bool enable_communication_interface);
 
 RCLC_LIFECYCLE_PUBLIC
 rcl_ret_t

diff --git a/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c b/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c
@@ -35,9 +35,15 @@ rclc_make_node_a_lifecycle_node(
   rclc_lifecycle_node_t * lifecycle_node,
   rcl_node_t * node,
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_allocator_t * allocator
+  rcl_allocator_t * allocator,
+  bool enable_communication_interface
 )
 {
+  rcl_lifecycle_state_machine_options_t state_machine_options =
+    rcl_lifecycle_get_default_state_machine_options();
+  state_machine_options.enable_com_interface = enable_communication_interface;
+  state_machine_options.allocator = *allocator;
+
   rcl_ret_t rcl_ret = rcl_lifecycle_state_machine_init(
     state_machine,
     node,
@@ -47,8 +53,7 @@ rclc_make_node_a_lifecycle_node(
     ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableStates),
     ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions),
     ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions),
-    true,
-    allocator);
+    &state_machine_options);
   if (rcl_ret != RCL_RET_OK) {
     // state machine not initialized, return uninitilized
     // @todo(anordman): how/what to return in this case?
@@ -228,12 +233,12 @@ rcl_lifecycle_node_fini(
 )
 {
   rcl_ret_t rcl_ret = RCL_RET_OK;
+  RCLC_UNUSED(allocator);
 
   // Cleanup statemachine
   rcl_ret = rcl_lifecycle_state_machine_fini(
     lifecycle_node->state_machine,
-    lifecycle_node->node,
-    allocator);
+    lifecycle_node->node);
   if (rcl_ret != RCL_RET_OK) {
     return RCL_RET_ERROR;
   }

diff --git a/rclc_lifecycle/test/test_lifecycle.cpp b/rclc_lifecycle/test/test_lifecycle.cpp
@@ -71,7 +71,8 @@ TEST(TestRclcLifecycle, lifecycle_node) {
     &lifecycle_node,
     &my_node,
     &state_machine_,
-    &allocator);
+    &allocator,
+    true);
 
   EXPECT_EQ(RCL_RET_OK, res);
 
@@ -107,7 +108,8 @@ TEST(TestRclcLifecycle, lifecycle_node_transitions) {
     &lifecycle_node,
     &my_node,
     &state_machine_,
-    &allocator);
+    &allocator,
+    false);
 
   // configure
   res = rclc_lifecycle_change_state(
@@ -176,7 +178,8 @@ TEST(TestRclcLifecycle, lifecycle_node_callbacks) {
     &lifecycle_node,
     &my_node,
     &state_machine_,
-    &allocator);
+    &allocator,
+    true);
 
   // register callbacks
   rclc_lifecycle_register_on_configure(&lifecycle_node, &callback_mockup_0);