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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #435

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1 change: 1 addition & 0 deletions rclc_examples/src/example_lifecycle_node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@ int main(int argc, const char * argv[])
rc = rclc_make_node_a_lifecycle_node(
&lifecycle_node,
&my_node,
&support.clock,
&state_machine_,
&allocator,
true);
Expand Down
1 change: 1 addition & 0 deletions rclc_lifecycle/include/rclc_lifecycle/rclc_lifecycle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,7 @@ rcl_ret_t
rclc_make_node_a_lifecycle_node(
rclc_lifecycle_node_t * lifecycle_node,
rcl_node_t * node,
rcl_clock_t * clock,
rcl_lifecycle_state_machine_t * state_machine,
rcl_allocator_t * allocator,
bool enable_communication_interface);
Expand Down
4 changes: 4 additions & 0 deletions rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ rcl_ret_t
rclc_make_node_a_lifecycle_node(
rclc_lifecycle_node_t * lifecycle_node,
rcl_node_t * node,
rcl_clock_t * clock,
rcl_lifecycle_state_machine_t * state_machine,
rcl_allocator_t * allocator,
bool enable_communication_interface
Expand All @@ -47,6 +48,8 @@ rclc_make_node_a_lifecycle_node(
lifecycle_node, "lifecycle_node is a null pointer", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(
node, "node is a null pointer", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(
clock, "clock is a null pointer", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(
allocator, "allocator is a null pointer", return RCL_RET_INVALID_ARGUMENT);

Expand All @@ -61,6 +64,7 @@ rclc_make_node_a_lifecycle_node(
rcl_ret_t rcl_ret = rcl_lifecycle_state_machine_init(
state_machine,
node,
clock,
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState),
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState),
Expand Down
24 changes: 24 additions & 0 deletions rclc_lifecycle/test/test_lifecycle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,12 +64,16 @@ TEST(TestRclcLifecycle, lifecycle_node) {
rcl_node_options_t node_ops = rcl_node_get_default_options();
res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);

rcl_clock_t my_clock;
res += rcl_clock_init(RCL_SYSTEM_TIME, &my_clock, &allocator);

rclc_lifecycle_node_t lifecycle_node;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();

res += rclc_make_node_a_lifecycle_node(
&lifecycle_node,
&my_node,
&my_clock,
&state_machine,
&allocator,
true);
Expand All @@ -81,6 +85,8 @@ TEST(TestRclcLifecycle, lifecycle_node) {
rcl_lifecycle_state_machine_is_initialized(lifecycle_node.state_machine));

// clean up
res = rcl_clock_fini(&my_clock);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_fini(&my_node);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_options_fini(&node_ops);
Expand All @@ -101,12 +107,16 @@ TEST(TestRclcLifecycle, lifecycle_node_transitions) {
rcl_node_options_t node_ops = rcl_node_get_default_options();
res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);

rcl_clock_t my_clock;
res += rcl_clock_init(RCL_ROS_TIME, &my_clock, &allocator);

rclc_lifecycle_node_t lifecycle_node;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();

res += rclc_make_node_a_lifecycle_node(
&lifecycle_node,
&my_node,
&my_clock,
&state_machine,
&allocator,
false);
Expand Down Expand Up @@ -151,6 +161,8 @@ TEST(TestRclcLifecycle, lifecycle_node_transitions) {
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_node.state_machine->current_state->id);

res = rcl_clock_fini(&my_clock);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_fini(&my_node);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_options_fini(&node_ops);
Expand All @@ -171,12 +183,16 @@ TEST(TestRclcLifecycle, lifecycle_node_callbacks) {
rcl_node_options_t node_ops = rcl_node_get_default_options();
res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);

rcl_clock_t my_clock;
res += rcl_clock_init(RCL_ROS_TIME, &my_clock, &allocator);

rclc_lifecycle_node_t lifecycle_node;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();

res += rclc_make_node_a_lifecycle_node(
&lifecycle_node,
&my_node,
&my_clock,
&state_machine,
&allocator,
true);
Expand Down Expand Up @@ -216,6 +232,8 @@ TEST(TestRclcLifecycle, lifecycle_node_callbacks) {
EXPECT_EQ(RCL_RET_OK, res);
EXPECT_EQ(15, callback_mockup_counter);

res = rcl_clock_fini(&my_clock);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_fini(&my_node);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_options_fini(&node_ops);
Expand All @@ -236,12 +254,16 @@ TEST(TestRclcLifecycle, lifecycle_node_servers) {
rcl_node_options_t node_ops = rcl_node_get_default_options();
res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);

rcl_clock_t my_clock;
res += rcl_clock_init(RCL_ROS_TIME, &my_clock, &allocator);

rclc_lifecycle_node_t lifecycle_node;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();

res += rclc_make_node_a_lifecycle_node(
&lifecycle_node,
&my_node,
&my_clock,
&state_machine,
&allocator,
true);
Expand Down Expand Up @@ -286,6 +308,8 @@ TEST(TestRclcLifecycle, lifecycle_node_servers) {
// Cleanup
res = rclc_lifecycle_node_fini(&lifecycle_node, &allocator);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_clock_fini(&my_clock);
EXPECT_EQ(RCL_RET_OK, res);
res = rcl_node_fini(&my_node);
EXPECT_EQ(RCL_RET_OK, res);
res = rclc_executor_fini(&executor);
Expand Down