Provide lifecycle services in the rclc lifecycle nodes (backport #51) #191
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* Adds service callback with service context Adds an additional callback type and handling that allows passing additional service context (void *) to a service callback. #35 Signed-off-by: Arne Nordmann <[email protected]> * Fixed service callback handling Signed-off-by: Arne Nordmann <[email protected]> * Adds user API and tests * Adds user API to add service with additional context * Tests (copied and adapted from service with request id tests) Signed-off-by: Arne Nordmann <[email protected]> * Proper tear-down of msgs Signed-off-by: Arne Nordmann <[email protected]> * Fixes service call with context tests Signed-off-by: Arne Nordmann <[email protected]> * Adds service callbacks to lifecycle node Declares service callbacks for lifecycle services: get state and get available states micro-ROS#40 Signed-off-by: Arne Nordmann <[email protected]> * Adds callback for GetState service micro-ROS#40 Signed-off-by: Arne Nordmann <[email protected]> * Provide GetAvailableStates service Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Example lifecycle node proides services Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Implemented ChangeState service Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Linting, documentation, example Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 * Cmake linting Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Adds missing declaration of callbacks Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Pre-initialize all strings Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Lifecycle services working * Functions to initialize lifecycle services for nodes * Exemplary lifecycle nodes with services micro-ROS#40 Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Tests for service initialization Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <[email protected]> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <[email protected]> * Ignoring unsuccessful SERVICE_TAKE (#175) * resolved bug by ignoring RCL_RET_SERVICE_TAKE_FAILED Signed-off-by: Jan Staschulat <[email protected]> * data_available has to be reset to false, if rcl_take fails - this needs to be updated for subscriptions as well. Signed-off-by: Jan Staschulat <[email protected]> * Fixes init and cleanup Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Jan Staschulat <[email protected]> (cherry picked from commit 865b02b)
norro
approved these changes
Aug 19, 2021
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This is an automatic backport of pull request #51 done by Mergify.
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