* Switch lifecycle to use the RCLCPP macros. (#2233)
This ensures that they'll go out to /rosout and the disk.
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
(cherry picked from commit 945d254e32)
* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (#2224)
* TypeDescriptions interface with readonly param configuration
* Add parameter descriptor, to make read only
* example of spinning in thread for get_type_description service
* Add a basic test for the new interface
* Fix tests with new parameter
* Add comments about builtin parameters
* Hide new member for ABI stability
* Add typedescription interface smoke test
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
Signed-off-by: William Woodall <william@osrfoundation.org>
* protect state_machine_ with mutex lock.
protect state_handle_ with mutex lock.
reconsider mutex lock scope.
remove mutex lock from constructors.
lock just once during initialization of LifecycleNodeInterfaceImpl.
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
* Move updating of current_state to right after initialization.
This is slightly more correct in the case that registering one
of the services fails.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
We should only need to update the current state when it changes,
so we do that in the change_state method (which is not const).
Then we can just return the current_state_ object in
get_current_state, and then mark it as const.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Split lifecycle_node_interface_impl into header and implementation.
There is no reason it should all be in the header file. No
functional change.
* Mark LifecycleNodeInterfaceImpl as final.
* Update documentation about return codes.
* Mark a bunch of LifecycleNodeInterfaceImpl methods as const.
* Make most of LifecycleNodeInterfaceImpl private.
* Mark some LifecycleNode methods as const.
* Disable copies on LifecycleNodeInterfaceImpl.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
