Program Listing for File default_state_machine.h
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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_
#define RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl_lifecycle/data_types.h"
#include "rcl_lifecycle/visibility_control.h"
#ifdef __cplusplus
extern "C"
{
#endif
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_configure_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_cleanup_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_activate_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_deactivate_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_shutdown_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_success_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_failure_label;
RCL_LIFECYCLE_PUBLIC extern const char * rcl_lifecycle_transition_error_label;
/*
* This function initializes a default state machine. It registers all: primary states,
* transition states, transitions and the initial state. The primary state is unconfigured.
*
* States: unknown, unconfigured, inactive, active and finalized.
* Transition states: configuring, cleaningup, activating, deactivating, errorprocessing
* and shuttingdown.
* Transitions:
* - unconfigured to configuring
* - unconfigured to shuttingdown
* - configuring to inactive
* - configuring to unconfigured
* - configuring to errorprocessing
* - inactive to activating
* - inactive to cleaningup
* - inactive to shuttingdown
* - cleaningup to unconfigured
* - cleaningup to inactive
* - cleaniningup to errorprocessing
* - activating to active
* - activating to inactive
* - activating to errorprocessing
* - active to deactivating
* - active to shuttingdown
* - deactivating to inactive
* - deactivating to active
* - deactivating to errorprocessing
* - shutting down to finalized
* - shutting down to finalized
* - shutting down to errorprocessing
* - errorprocessing to uncofigured
* - errorprocessing to finalized
* - errorprocessing to finalized
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[inout] state_machine struct to be initialized
* \param[in] allocator a valid allocator used to initialized the state machine
* \return `RCL_RET_OK` if the state machine was initialized successfully, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_LIFECYCLE_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_lifecycle_init_default_state_machine(
rcl_lifecycle_state_machine_t * state_machine, const rcl_allocator_t * allocator);
#ifdef __cplusplus
}
#endif
#endif // RCL_LIFECYCLE__DEFAULT_STATE_MACHINE_H_