C++ API

rcl: Common functionality ROS lifecycle

rcl_lifecycle provides a pure C implementation of the ROS concept of lifecycle. It builds on top of the implementation of topics and services in rcl.

rcl_lifecycle consists of functions and structs for the following ROS lifecycle entities:

• Lifecycle states

• Lifecycle transitions

• Lifecycle state machine

• Lifecycle triggers

Some useful abstractions:

• Return codes and other types

  • rcl_lifecycle/data_types.h

Class Hierarchy

• • Struct rcl_lifecycle_com_interface_s
  • Struct rcl_lifecycle_state_machine_options_s
  • Struct rcl_lifecycle_state_machine_s
  • Struct rcl_lifecycle_state_s
  • Struct rcl_lifecycle_transition_map_s
  • Struct rcl_lifecycle_transition_s

File Hierarchy

• • Directory include
    • Directory rcl_lifecycle
      • File data_types.h
      • File default_state_machine.h
      • File rcl_lifecycle.h
      • File transition_map.h
      • File visibility_control.h

Full C++ API

Classes and Structs

• Struct rcl_lifecycle_com_interface_s

• Struct rcl_lifecycle_state_machine_options_s

• Struct rcl_lifecycle_state_machine_s

• Struct rcl_lifecycle_state_s

• Struct rcl_lifecycle_transition_map_s

• Struct rcl_lifecycle_transition_s

Functions

• Function rcl_lifecycle_get_default_state_machine_options

• Function rcl_lifecycle_get_state

• Function rcl_lifecycle_get_transition_by_id

• Function rcl_lifecycle_get_transition_by_label

• Function rcl_lifecycle_get_transitions

• Function rcl_lifecycle_get_zero_initialized_state

• Function rcl_lifecycle_get_zero_initialized_state_machine

• Function rcl_lifecycle_get_zero_initialized_transition

• Function rcl_lifecycle_get_zero_initialized_transition_map

• Function rcl_lifecycle_init_default_state_machine

• Function rcl_lifecycle_register_state

• Function rcl_lifecycle_register_transition

• Function rcl_lifecycle_state_fini

• Function rcl_lifecycle_state_init

• Function rcl_lifecycle_state_machine_fini

• Function rcl_lifecycle_state_machine_init

• Function rcl_lifecycle_state_machine_is_initialized

• Function rcl_lifecycle_transition_fini

• Function rcl_lifecycle_transition_init

• Function rcl_lifecycle_transition_map_fini

• Function rcl_lifecycle_transition_map_is_initialized

• Function rcl_lifecycle_trigger_transition_by_id

• Function rcl_lifecycle_trigger_transition_by_label

• Function rcl_print_state_machine

Variables

• Variable rcl_lifecycle_activate_label

• Variable rcl_lifecycle_cleanup_label

• Variable rcl_lifecycle_configure_label

• Variable rcl_lifecycle_deactivate_label

• Variable rcl_lifecycle_shutdown_label

• Variable rcl_lifecycle_transition_error_label

• Variable rcl_lifecycle_transition_failure_label

• Variable rcl_lifecycle_transition_success_label

Defines

• Define RCL_LIFECYCLE_EXPORT

• Define RCL_LIFECYCLE_IMPORT

• Define RCL_LIFECYCLE_LOCAL

• Define RCL_LIFECYCLE_PUBLIC

• Define RCL_LIFECYCLE_PUBLIC_TYPE

Typedefs

• Typedef rcl_lifecycle_com_interface_t

• Typedef rcl_lifecycle_state_machine_options_t

• Typedef rcl_lifecycle_state_machine_t

• Typedef rcl_lifecycle_state_t

• Typedef rcl_lifecycle_transition_map_t

• Typedef rcl_lifecycle_transition_t

Directories

• Directory include

• Directory rcl_lifecycle

Files

• File data_types.h

• File default_state_machine.h

• File rcl_lifecycle.h

• File transition_map.h

• File visibility_control.h