Program Listing for File rclc_lifecycle.h

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// Copyright (c) 2020 - for information on the respective copyright owner
// see the NOTICE file and/or the repository https://github.com/ros2/rclc.
// Copyright 2014 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 RCLC_LIFECYCLE__RCLC_LIFECYCLE_H_
#define RCLC_LIFECYCLE__RCLC_LIFECYCLE_H_

#if __cplusplus
extern "C"
{
#endif

#define RCLC_LIFECYCLE_MAX_NUMBER_OF_STATES 100  // highest transition id: 99

#include <rcutils/logging_macros.h>
#include <rcl/error_handling.h>
#include <rcl_lifecycle/rcl_lifecycle.h>

#include <lifecycle_msgs/srv/change_state.h>
#include <lifecycle_msgs/srv/get_state.h>
#include <lifecycle_msgs/srv/get_available_states.h>

#include <rclc/node.h>
#include <rclc/executor.h>
#include "rclc_lifecycle/visibility_control.h"

typedef struct rclc_lifecycle_callback_map_t
{
  bool goal_states[RCLC_LIFECYCLE_MAX_NUMBER_OF_STATES];
  int (* fun_ptrs[RCLC_LIFECYCLE_MAX_NUMBER_OF_STATES])(void);
} rclc_lifecycle_callback_map_t;

typedef struct rclc_lifecycle_node_t
{
  rcl_node_t * node;
  rcl_lifecycle_state_machine_t * state_machine;
  rclc_lifecycle_callback_map_t callbacks;
  bool publish_transitions;

  lifecycle_msgs__srv__ChangeState_Request cs_req;
  lifecycle_msgs__srv__ChangeState_Response cs_res;
  lifecycle_msgs__srv__GetState_Request gs_req;
  lifecycle_msgs__srv__GetState_Response gs_res;
  lifecycle_msgs__srv__GetAvailableStates_Request gas_req;
  lifecycle_msgs__srv__GetAvailableStates_Response gas_res;
} rclc_lifecycle_node_t;

typedef struct rclc_lifecycle_service_context_t
{
  rclc_lifecycle_node_t * lifecycle_node;
} rclc_lifecycle_service_context_t;

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_init_get_state_server(
  rclc_lifecycle_service_context_t * context,
  rclc_executor_t * executor);

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_init_get_available_states_server(
  rclc_lifecycle_service_context_t * context,
  rclc_executor_t * executor);

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_init_change_state_server(
  rclc_lifecycle_service_context_t * context,
  rclc_executor_t * executor);

RCLC_LIFECYCLE_PUBLIC
void
rclc_lifecycle_get_state_callback(
  const void * req,
  void * res,
  void * context);

RCLC_LIFECYCLE_PUBLIC
void
rclc_lifecycle_get_available_states_callback(
  const void * req,
  void * res,
  void * context);

RCLC_LIFECYCLE_PUBLIC
void
rclc_lifecycle_change_state_callback(
  const void * req,
  void * res,
  void * context);

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
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,
  bool enable_communication_interface);

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_change_state(
  rclc_lifecycle_node_t * lifecycle_node,
  unsigned int transition_id,
  bool publish_update);

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_register_callback(
  rclc_lifecycle_node_t * lifecycle_node,
  unsigned int goal_state,
  int (* cb)(void));

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_register_on_configure(
  rclc_lifecycle_node_t * node,
  int (* cb)(void));

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_register_on_activate(
  rclc_lifecycle_node_t * node,
  int (* cb)(void));

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_register_on_deactivate(
  rclc_lifecycle_node_t * node,
  int (* cb)(void));

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_register_on_cleanup(
  rclc_lifecycle_node_t * node,
  int (* cb)(void));

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_execute_callback(
  rclc_lifecycle_node_t * lifecycle_node,
  unsigned int transition_id);

RCLC_LIFECYCLE_PUBLIC
rcl_ret_t
rclc_lifecycle_node_fini(
  rclc_lifecycle_node_t * node,
  rcl_allocator_t * allocator);

#if __cplusplus
}
#endif

#endif  // RCLC_LIFECYCLE__RCLC_LIFECYCLE_H_