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Primary state error transitions #1064

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Primary state error transitions #1064

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8 changes: 8 additions & 0 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -613,6 +613,14 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
const State &
deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);

RCLCPP_LIFECYCLE_PUBLIC
const State &
raise_error();

RCLCPP_LIFECYCLE_PUBLIC
const State &
raise_error(LifecycleNodeInterface::CallbackReturn & cb_return_code);

RCLCPP_LIFECYCLE_PUBLIC
const State &
shutdown();
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22 changes: 22 additions & 0 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -555,6 +555,28 @@ LifecycleNode::deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_cod
lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE, cb_return_code);
}

const State &
LifecycleNode::raise_error()
{
if(get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
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I do not think this needs to be checked here. it will check the current state and get the reference to rcl_lifecycle_transition_t in rcl state_machine.

return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR);
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Suggested change
lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR);
rcl_lifecycle_error_label);

else
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_ERROR);
}

const State &
LifecycleNode::raise_error(LifecycleNodeInterface::CallbackReturn & cb_return_code)
{
if(get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR, cb_return_code);
else
return impl_->trigger_transition(
lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_ERROR, cb_return_code);
}

const State &
LifecycleNode::shutdown()
{
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