.. _program_listing_file_include_rcl_lifecycle_default_state_machine.h:

Program Listing for File default_state_machine.h
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_lifecycle_default_state_machine.h>` (``include/rcl_lifecycle/default_state_machine.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_