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Rename data types (#155)
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* change RCL_LIFECYCLE_RET_T to lifecycle_msgs

* logging macros
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@Karsten1987
Karsten1987 authored Aug 2, 2017
1 parent 7e7c85e commit e4ce07b
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Showing 3 changed files with 71 additions and 56 deletions.
10 changes: 7 additions & 3 deletions lifecycle/src/lifecycle_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,11 @@
#include <string>

#include "lifecycle_msgs/msg/transition_event.hpp"

#include "rclcpp/rclcpp.hpp"

#include "rcutils/logging_macros.h"

#include "std_msgs/msg/string.hpp"

/// LifecycleListener class as a simple listener node
Expand Down Expand Up @@ -47,13 +51,13 @@ class LifecycleListener : public rclcpp::node::Node

void data_callback(const std_msgs::msg::String::SharedPtr msg)
{
printf("[%s] data_callback: %s\n", get_name(), msg->data.c_str());
RCUTILS_LOG_INFO_NAMED(get_name(), "data_callback: %s", msg->data.c_str())
}

void notification_callback(const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg)
{
printf("[%s] notify callback: Transition from state %s to %s\n", get_name(),
msg->start_state.label.c_str(), msg->goal_state.label.c_str());
RCUTILS_LOG_INFO_NAMED(get_name(), "notify callback: Transition from state %s to %s",
msg->start_state.label.c_str(), msg->goal_state.label.c_str())
}

private:
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34 changes: 18 additions & 16 deletions lifecycle/src/lifecycle_service_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@

#include "rclcpp/rclcpp.hpp"

#include "rcutils/logging_macros.h"

using namespace std::chrono_literals;

// which node to handle
Expand Down Expand Up @@ -95,8 +97,8 @@ class LifecycleServiceClient : public rclcpp::node::Node
auto request = std::make_shared<lifecycle_msgs::srv::GetState::Request>();

if (!client_get_state_->wait_for_service(time_out)) {
fprintf(stderr, "Service %s is not available.\n",
client_get_state_->get_service_name().c_str());
RCUTILS_LOG_ERROR("Service %s is not available.",
client_get_state_->get_service_name().c_str())
return lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN;
}

Expand All @@ -109,19 +111,19 @@ class LifecycleServiceClient : public rclcpp::node::Node
auto future_status = wait_for_result(future_result, time_out);

if (future_status != std::future_status::ready) {
fprintf(stderr, "[%s] Failed to get current state for node %s. Server timed out.\n",
get_name(), lifecycle_node);
RCUTILS_LOG_ERROR_NAMED(
get_name(), "Server time out while getting current state for node %s", lifecycle_node)
return lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN;
}

// We have an succesful answer. So let's print the current state.
if (future_result.get()) {
printf("[%s] Node %s has current state %s.\n",
get_name(), lifecycle_node, future_result.get()->current_state.label.c_str());
RCUTILS_LOG_INFO_NAMED(get_name(), "Node %s has current state %s.",
lifecycle_node, future_result.get()->current_state.label.c_str())
return future_result.get()->current_state.id;
} else {
fprintf(stderr, "[%s] Failed to get current state for node %s\n",
get_name(), lifecycle_node);
RCUTILS_LOG_ERROR_NAMED(
get_name(), "Failed to get current state for node %s", lifecycle_node)
return lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN;
}
}
Expand Down Expand Up @@ -149,8 +151,8 @@ class LifecycleServiceClient : public rclcpp::node::Node
request->transition.id = transition;

if (!client_change_state_->wait_for_service(time_out)) {
fprintf(stderr, "Service %s is not available.\n",
client_change_state_->get_service_name().c_str());
RCUTILS_LOG_ERROR("Service %s is not available.",
client_change_state_->get_service_name().c_str())
return false;
}

Expand All @@ -162,19 +164,19 @@ class LifecycleServiceClient : public rclcpp::node::Node
auto future_status = wait_for_result(future_result, time_out);

if (future_status != std::future_status::ready) {
fprintf(stderr, "[%s] Failed to change state for node %s. Server timed out.\n",
get_name(), lifecycle_node);
RCUTILS_LOG_ERROR_NAMED(
get_name(), "Server time out while getting current state for node %s", lifecycle_node)
return false;
}

// We have an answer, let's print our success.
if (future_result.get()->success) {
printf("[%s] Transition %d successfully triggered.\n",
get_name(), static_cast<int>(transition));
RCUTILS_LOG_INFO_NAMED(
get_name(), "Transition %d successfully triggered.", static_cast<int>(transition))
return true;
} else {
fprintf(stderr, "[%s] Failed to trigger transition %u\n",
get_name(), static_cast<unsigned int>(transition));
RCUTILS_LOG_WARN_NAMED(
get_name(), "Failed to trigger transition %u", static_cast<unsigned int>(transition));
return false;
}
}
Expand Down
83 changes: 46 additions & 37 deletions lifecycle/src/lifecycle_talker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,16 @@
#include <string>
#include <thread>

#include "lifecycle_msgs/msg/transition.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/publisher.hpp"

#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"

#include "rcutils/logging_macros.h"

#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;
Expand Down Expand Up @@ -66,18 +70,19 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* lifecycle publisher is not activate, we still invoke publish, but
* the communication is blocked so that no messages is actually transferred.
*/
void publish()
void
publish()
{
static size_t count = 0;
msg_->data = "Lifecycle HelloWorld #" + std::to_string(++count);

// Print the current state for demo purposes
if (!pub_->is_activated()) {
printf("[%s] Lifecycle publisher is currently inactive. Messages are not published.\n",
get_name());
RCUTILS_LOG_INFO_NAMED(
get_name(), "Lifecycle publisher is currently inactive. Messages are not published.")
} else {
printf("[%s] Lifecycle publisher is active. Publishing: [%s]\n",
get_name(), msg_->data.c_str());
RCUTILS_LOG_INFO_NAMED(
get_name(), "Lifecycle publisher is active. Publishing: [%s]", msg_->data.c_str())
}

// We independently from the current state call publish on the lifecycle
Expand All @@ -94,11 +99,12 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* Depending on the return value of this function, the state machine
* either invokes a transition to the "inactive" state or stays
* in "unconfigured".
* RCL_LIFECYCLE_RET_OK transitions to "inactive"
* RCL_LIFECYCLE_RET_FAILURE transitions to "unconfigured"
* RCL_LIFECYCLE_RET_ERROR or any uncaught exceptions to "errorprocessing"
* TRANSITION_CALLBACK_SUCCESS transitions to "inactive"
* TRANSITION_CALLBACK_FAILURE transitions to "unconfigured"
* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "errorprocessing"
*/
rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_configure(const rclcpp_lifecycle::State &)
{
// This callback is supposed to be used for initialization and
// configuring purposes.
Expand All @@ -113,15 +119,15 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
timer_ = this->create_wall_timer(
1s, std::bind(&LifecycleTalker::publish, this));

printf("[%s] on_configure() is called.\n", get_name());
RCUTILS_LOG_INFO_NAMED(get_name(), "on_configure() is called.")

// We return a success and hence invoke the transition to the next
// step: "inactive".
// If we returned RCL_LIFECYCLE_RET_FAILURE instead, the state machine
// If we returned TRANSITION_CALLBACK_FAILURE instead, the state machine
// would stay in the "unconfigured" state.
// In case of RCL_LIFECYCLE_RET_ERROR or any thrown exception within
// In case of TRANSITION_CALLBACK_ERROR or any thrown exception within
// this callback, the state machine transitions to state "errorprocessing".
return RCL_LIFECYCLE_RET_OK;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
}

/// Transition callback for state activating
Expand All @@ -131,18 +137,19 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* Depending on the return value of this function, the state machine
* either invokes a transition to the "active" state or stays
* in "inactive".
* RCL_LIFECYCLE_RET_OK transitions to "active"
* RCL_LIFECYCLE_RET_FAILURE transitions to "inactive"
* RCL_LIFECYCLE_RET_ERROR or any uncaught exceptions to "errorprocessing"
* TRANSITION_CALLBACK_SUCCESS transitions to "active"
* TRANSITION_CALLBACK_FAILURE transitions to "inactive"
* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "errorprocessing"
*/
rcl_lifecycle_ret_t on_activate(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_activate(const rclcpp_lifecycle::State &)
{
// We explicitly activate the lifecycle publisher.
// Starting from this point, all messages are no longer
// ignored but sent into the network.
pub_->on_activate();

printf("[%s] on_activate() is called.\n", get_name());
RCUTILS_LOG_INFO_NAMED(get_name(), "on_activate() is called.")

// Let's sleep for 2 seconds.
// We emulate we are doing important
Expand All @@ -151,11 +158,11 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode

// We return a success and hence invoke the transition to the next
// step: "active".
// If we returned RCL_LIFECYCLE_RET_FAILURE instead, the state machine
// If we returned TRANSITION_CALLBACK_FAILURE instead, the state machine
// would stay in the "inactive" state.
// In case of RCL_LIFECYCLE_RET_ERROR or any thrown exception within
// In case of TRANSITION_CALLBACK_ERROR or any thrown exception within
// this callback, the state machine transitions to state "errorprocessing".
return RCL_LIFECYCLE_RET_OK;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
}

/// Transition callback for state activating
Expand All @@ -165,26 +172,27 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* Depending on the return value of this function, the state machine
* either invokes a transition to the "inactive" state or stays
* in "active".
* RCL_LIFECYCLE_RET_OK transitions to "inactive"
* RCL_LIFECYCLE_RET_FAILURE transitions to "active"
* RCL_LIFECYCLE_RET_ERROR or any uncaught exceptions to "errorprocessing"
* TRANSITION_CALLBACK_SUCCESS transitions to "inactive"
* TRANSITION_CALLBACK_FAILURE transitions to "active"
* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "errorprocessing"
*/
rcl_lifecycle_ret_t on_deactivate(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_deactivate(const rclcpp_lifecycle::State &)
{
// We explicitly deactivate the lifecycle publisher.
// Starting from this point, all messages are no longer
// sent into the network.
pub_->on_deactivate();

printf("[%s] on_deactivate() is called.\n", get_name());
RCUTILS_LOG_INFO_NAMED(get_name(), "on_deactivate() is called.")

// We return a success and hence invoke the transition to the next
// step: "inactive".
// If we returned RCL_LIFECYCLE_RET_FAILURE instead, the state machine
// If we returned TRANSITION_CALLBACK_FAILURE instead, the state machine
// would stay in the "active" state.
// In case of RCL_LIFECYCLE_RET_ERROR or any thrown exception within
// In case of TRANSITION_CALLBACK_ERROR or any thrown exception within
// this callback, the state machine transitions to state "errorprocessing".
return RCL_LIFECYCLE_RET_OK;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
}

/// Transition callback for state deactivating
Expand All @@ -194,27 +202,28 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* Depending on the return value of this function, the state machine
* either invokes a transition to the "uncofigured" state or stays
* in "inactive".
* RCL_LIFECYCLE_RET_OK transitions to "unconfigured"
* RCL_LIFECYCLE_RET_FAILURE transitions to "inactive"
* RCL_LIFECYCLE_RET_ERROR or any uncaught exceptions to "errorprocessing"
* TRANSITION_CALLBACK_SUCCESS transitions to "unconfigured"
* TRANSITION_CALLBACK_FAILURE transitions to "inactive"
* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "errorprocessing"
*/
rcl_lifecycle_ret_t on_cleanup(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_cleanup(const rclcpp_lifecycle::State &)
{
// In our cleanup phase, we release the shared pointers to the
// timer and publisher. These entities are no longer available
// and our node is "clean".
timer_.reset();
pub_.reset();

printf("[%s] on cleanup is called.\n", get_name());
RCUTILS_LOG_INFO_NAMED(get_name(), "on cleanup is called.")

// We return a success and hence invoke the transition to the next
// step: "unconfigured".
// If we returned RCL_LIFECYCLE_RET_FAILURE instead, the state machine
// If we returned TRANSITION_CALLBACK_FAILURE instead, the state machine
// would stay in the "inactive" state.
// In case of RCL_LIFECYCLE_RET_ERROR or any thrown exception within
// In case of TRANSITION_CALLBACK_ERROR or any thrown exception within
// this callback, the state machine transitions to state "errorprocessing".
return RCL_LIFECYCLE_RET_OK;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
}

private:
Expand Down

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