94 lines
3.3 KiB
Text
94 lines
3.3 KiB
Text
# Default values for transitions as described in:
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# http://design.ros2.org/articles/node_lifecycle.html
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# Reserved [0-9], publicly available transitions.
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# When a node is in one of these primary states, these transitions can be
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# invoked.
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# This transition will instantiate the node, but will not run any code beyond
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# the constructor.
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uint8 TRANSITION_CREATE = 0
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# The node's onConfigure callback will be called to allow the node to load its
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# configuration and conduct any required setup.
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uint8 TRANSITION_CONFIGURE = 1
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# The node's callback onCleanup will be called in this transition to allow the
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# node to load its configuration and conduct any required setup.
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uint8 TRANSITION_CLEANUP = 2
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# The node's callback onActivate will be executed to do any final preparations
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# to start executing.
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uint8 TRANSITION_ACTIVATE = 3
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# The node's callback onDeactivate will be executed to do any cleanup to start
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# executing, and reverse the onActivate changes.
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uint8 TRANSITION_DEACTIVATE = 4
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# This signals shutdown during an unconfigured state, the node's callback
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# onShutdown will be executed to do any cleanup necessary before destruction.
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uint8 TRANSITION_UNCONFIGURED_SHUTDOWN = 5
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# This signals shutdown during an inactive state, the node's callback onShutdown
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# will be executed to do any cleanup necessary before destruction.
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uint8 TRANSITION_INACTIVE_SHUTDOWN = 6
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# This signals shutdown during an active state, the node's callback onShutdown
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# will be executed to do any cleanup necessary before destruction.
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uint8 TRANSITION_ACTIVE_SHUTDOWN = 7
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# This transition will simply cause the deallocation of the node.
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uint8 TRANSITION_DESTROY = 8
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# Reserved [10-69], private transitions
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# These transitions are not publicly available and cannot be invoked by a user.
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# The following transitions are implicitly invoked based on the callback
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# feedback of the intermediate transition states.
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uint8 TRANSITION_ON_CONFIGURE_SUCCESS = 10
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uint8 TRANSITION_ON_CONFIGURE_FAILURE = 11
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uint8 TRANSITION_ON_CONFIGURE_ERROR = 12
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uint8 TRANSITION_ON_CLEANUP_SUCCESS = 20
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uint8 TRANSITION_ON_CLEANUP_FAILURE = 21
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uint8 TRANSITION_ON_CLEANUP_ERROR = 22
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uint8 TRANSITION_ON_ACTIVATE_SUCCESS = 30
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uint8 TRANSITION_ON_ACTIVATE_FAILURE = 31
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uint8 TRANSITION_ON_ACTIVATE_ERROR = 32
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uint8 TRANSITION_ON_DEACTIVATE_SUCCESS = 40
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uint8 TRANSITION_ON_DEACTIVATE_FAILURE = 41
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uint8 TRANSITION_ON_DEACTIVATE_ERROR = 42
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uint8 TRANSITION_ON_SHUTDOWN_SUCCESS = 50
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uint8 TRANSITION_ON_SHUTDOWN_FAILURE = 51
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uint8 TRANSITION_ON_SHUTDOWN_ERROR = 52
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uint8 TRANSITION_ON_ERROR_SUCCESS = 60
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uint8 TRANSITION_ON_ERROR_FAILURE = 61
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uint8 TRANSITION_ON_ERROR_ERROR = 62
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# Reserved [90-99]. Transition callback success values.
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# These return values ought to be set as a return value for each callback.
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# Depending on which return value, the transition will be executed correctly or
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# fallback/error callbacks will be triggered.
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# The transition callback successfully performed its required functionality.
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uint8 TRANSITION_CALLBACK_SUCCESS = 97
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# The transition callback failed to perform its required functionality.
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uint8 TRANSITION_CALLBACK_FAILURE = 98
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# The transition callback encountered an error that requires special cleanup, if
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# possible.
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uint8 TRANSITION_CALLBACK_ERROR = 99
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##
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## Fields
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##
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# The transition id from above definitions.
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uint8 id
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# A text label of the transition.
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string label
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