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Make lifecycle impl get_current_state() const. #2031

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merged 1 commit into from
Oct 24, 2022
Merged

Make lifecycle impl get_current_state() const. #2031

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2 changes: 1 addition & 1 deletion rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -839,7 +839,7 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
*/
RCLCPP_LIFECYCLE_PUBLIC
const State &
get_current_state();
get_current_state() const;

/// Return a list with the available states.
/**
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2 changes: 1 addition & 1 deletion rclcpp_lifecycle/src/lifecycle_node.cpp
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Expand Up @@ -535,7 +535,7 @@ LifecycleNode::register_on_error(
}

const State &
LifecycleNode::get_current_state()
LifecycleNode::get_current_state() const
{
return impl_->get_current_state();
}
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15 changes: 13 additions & 2 deletions rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp
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Expand Up @@ -182,6 +182,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::init(bool enable_communication_interf
nullptr);
}
}

current_state_ = State(state_machine_.current_state);
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}

bool
Expand Down Expand Up @@ -327,9 +329,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::on_get_transition_graph(
}

const State &
LifecycleNode::LifecycleNodeInterfaceImpl::get_current_state()
LifecycleNode::LifecycleNodeInterfaceImpl::get_current_state() const
{
current_state_ = State(state_machine_.current_state);
return current_state_;
}

Expand Down Expand Up @@ -396,6 +397,9 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
return RCL_RET_ERROR;
}

// Update the internal current_state_
current_state_ = State(state_machine_.current_state);

auto get_label_for_return_code =
[](node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code) -> const char *{
auto cb_id = static_cast<uint8_t>(cb_return_code);
Expand All @@ -421,6 +425,9 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
return RCL_RET_ERROR;
}

// Update the internal current_state_
current_state_ = State(state_machine_.current_state);

// error handling ?!
// TODO(karsten1987): iterate over possible ret value
if (cb_return_code == node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR) {
Expand All @@ -437,6 +444,10 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
return RCL_RET_ERROR;
}
}

// Update the internal current_state_
current_state_ = State(state_machine_.current_state);

// This true holds in both cases where the actual callback
// was successful or not, since at this point we have a valid transistion
// to either a new primary state or error state
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2 changes: 1 addition & 1 deletion rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
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Expand Up @@ -65,7 +65,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
std::function<node_interfaces::LifecycleNodeInterface::CallbackReturn(const State &)> & cb);

const State &
get_current_state();
get_current_state() const;

std::vector<State>
get_available_states() const;
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