Syncing current progress

Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license

Author: jhdcs

rclrs/build.rs

@@ -109,6 +109,7 @@ fn main() {
     println!("cargo:rustc-link-lib=dylib=rcutils");
     println!("cargo:rustc-link-lib=dylib=rmw");
     println!("cargo:rustc-link-lib=dylib=rmw_implementation");
+    println!("cargo:rustc-link-lib=dylib=rcl_lifecycle");
 
     let bindings = builder.generate().expect("Unable to generate bindings");
 

rclrs/src/lifecycle_node.rs

@@ -457,9 +457,12 @@ mod tests {
         test_node_builder.enable_communication_interface = true;
 
         let test_node = test_node_builder.build().unwrap();
-        assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_node.state_machine.change_state(Transition::TRANSITION_CONFIGURE).unwrap());
-        assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_node.state_machine.change_state(Transition::TRANSITION_ACTIVATE).unwrap());
-        assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_node.state_machine.change_state(Transition::TRANSITION_DEACTIVATE).unwrap());
-        assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_node.state_machine.change_state(Transition::TRANSITION_CLEANUP).unwrap());
+        println!("{:?}", test_node);
+        assert_eq!(Transition::TRANSITION_CALLBACK_SUCCESS, test_node.state_machine.change_state(Transition::TRANSITION_CONFIGURE).unwrap());
+        let q = test_node.state_machine.get_current_state().unwrap();
+        println!("{:?}", q);
+        // assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_node.state_machine.change_state(Transition::TRANSITION_ACTIVATE).unwrap());
+        // assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_node.state_machine.change_state(Transition::TRANSITION_DEACTIVATE).unwrap());
+        // assert_eq!(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_node.state_machine.change_state(Transition::TRANSITION_CLEANUP).unwrap());
     }
 }

rclrs/src/lifecycle_node/state.rs

@@ -21,6 +21,7 @@ use std::{
 
 use crate::{error::ToResult, rcl_bindings::*, RclReturnCode, RclrsError};
 
+#[derive(Debug)]
 pub struct State {
     id: u8,
     label: String,

rclrs/src/lifecycle_node/state_machine.rs

@@ -392,6 +392,17 @@ impl LifecycleMachine {
         Ok(transitions)
     }
 
+
+    fn get_label_for_return_code(cb_return_code: &u8) -> String {
+        if cb_return_code == &Transition::TRANSITION_CALLBACK_SUCCESS {
+            "transition_success".into()
+        } else if cb_return_code == &Transition::TRANSITION_CALLBACK_FAILURE {
+            "transition_failure".into()
+        } else {
+            "transition_error".into()
+        }
+    }
+    
     pub(crate) fn change_state(&self, transition_id: u8) -> Result<u8, RclrsError> {
         // Make sure that the state machine is initialized before doing anything
         let mut state_machine = self.state_machine.lock().unwrap();
@@ -419,26 +430,16 @@ impl LifecycleMachine {
             .ok()?
         };
 
-        let get_label_for_return_code = |cb_return_code: &u8| {
-            if cb_return_code == &Transition::TRANSITION_CALLBACK_SUCCESS {
-                "transition_success"
-            } else if cb_return_code == &Transition::TRANSITION_CALLBACK_FAILURE {
-                "transition_failure"
-            } else {
-                "transition_error"
-            }
-        };
-
         // SAFETY: The state machine is not null, since it's initialized
         let cb_return_code =
             self.execute_callback(unsafe { (*state_machine.current_state).id }, initial_state);
-        let transition_label = get_label_for_return_code(&cb_return_code);
+        let transition_label = Self::get_label_for_return_code(&cb_return_code);
         let transition_label_cstr = CString::new(transition_label).unwrap(); // Should be fine, since the strings are known to be valid CStrings
 
         // SAFETY: The state machine is not null, since it's initialized
         unsafe {
             rcl_lifecycle_trigger_transition_by_label(
-                &mut *state_machine as *mut rcl_lifecycle_state_machine_s,
+                &mut *state_machine,
                 transition_label_cstr.as_ptr(),
                 publish_update,
             )