Function rcl_lifecycle_transition_init

Function Documentation

rcl_ret_t rcl_lifecycle_transition_init(rcl_lifecycle_transition_t *transition, unsigned int id, const char *label, rcl_lifecycle_state_t *start, rcl_lifecycle_state_t *goal, const rcl_allocator_t *allocator)

Initialize a transition from a start state to the goal state.

The given rcl_lifecycle_transition_t must be zero initialized with the function rcl_lifecycle_get_zero_initialized_transition() and must not be already initialized by this function. The allocator will be used to allocate the label string and the rcl_lifecycle_state_t structs.

Note: the transition pointer will take ownership of the start and goal state. When calling rcl_lifecycle_transition_fini(), the two states will be freed.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • transition – [in] to a preallocated, zero-initialized transition structure to be initialized.

  • id – [in] identifier of the transition

  • label – [in] label of the transition

  • start – [in] the value where the transition is initialized

  • goal – [in] the objetive of the transition

  • allocator – [in] a valid allocator used to finalize the lifecycle state

Returns:

RCL_RET_OK if the transition is initialized successfully, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.