Code

Implement managed nodes#865

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ivanpauno merged 34 commits intomasterros2/rclpy:masterfrom ivanpauno/lifecycleros2/rclpy:ivanpauno/lifecycleCopy head branch name to clipboardDec 23, 2021

+1,291-46

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Commits on Dec 17, 2021

• wip

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• wip 2

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• Fix possible ownership issue

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• make basic example work

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• Make all the services work, checked by doing manual testing

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• More consistent style

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• Add some docs, add ManagedEntity concept

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• Make all linters happy

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• Quick lifecycle publisher implementation

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• Minor style change

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• Fix issues introduced when implementing LifecyclePublisher, automatically manage child entities

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• Fixes to make it work again

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• Modularize the implementation

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• Improve SimpleManagedEntity.when_enabled

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• Add some docs to lifecycle publisher

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• Register all necessary callbacks, add State abstraction, other minor improvements

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• Minor style changes, add local API to trigger transitions

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• Test LifecycleNode constructor, fix when enable_communication_interface=False

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• test transitions + fixes

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• Add tests for lifecycle publisher

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• Please flake8

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Commits on Dec 20, 2021

• Minor style change after writting the demos

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• Fix misspelled word

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• Make some attributes in Node "protected" instead of private for easier reuse in LifecycleNode and other derived classes

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• Remove TODO, add better docs

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• Remove TODO in __register_callback

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• Remove TODO

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• Check transition callbacks return code type. Check type of added managed entitities. Share implementation of default transtion callbacks

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Commits on Dec 22, 2021

• Check that state is 'unconfigured' also before transition

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• Test lifecycle services

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• Delete early debugging code

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• Please linters

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• Test the two remaining shutdown transitions. Correct error handling when shutdown transition is not possible

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Commits on Dec 23, 2021

• Address peer review comments

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