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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #2967

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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #2967

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2 changes: 1 addition & 1 deletion rclcpp_lifecycle/src/lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,7 @@ LifecycleNode::LifecycleNode(
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
node_options_(options),
impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_, node_logging_))
impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_, node_logging_, node_clock_))
{
impl_->init(enable_communication_interface);

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10 changes: 8 additions & 2 deletions rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"

#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

Expand All @@ -52,10 +53,12 @@ namespace rclcpp_lifecycle
LifecycleNode::LifecycleNodeInterfaceImpl::LifecycleNodeInterfaceImpl(
std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface)
std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface> node_clock_interface)
: node_base_interface_(node_base_interface),
node_services_interface_(node_services_interface),
node_logging_interface_(node_logging_interface)
node_logging_interface_(node_logging_interface),
node_clock_interface_(node_clock_interface)
{
}

Expand Down Expand Up @@ -86,6 +89,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::init(bool enable_communication_interf
state_machine_options.enable_com_interface = enable_communication_interface;
state_machine_options.allocator = node_options->allocator;

rcl_clock_t * clock = node_clock_interface_->get_clock()->get_clock_handle();

// The call to initialize the state machine takes
// currently five different typesupports for all publishers/services
// created within the RCL_LIFECYCLE structure.
Expand All @@ -97,6 +102,7 @@ LifecycleNode::LifecycleNodeInterfaceImpl::init(bool enable_communication_interf
rcl_ret_t ret = rcl_lifecycle_state_machine_init(
&state_machine_,
node_handle,
clock,
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(),
rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(),
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6 changes: 5 additions & 1 deletion rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"

#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

Expand All @@ -54,7 +55,8 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
LifecycleNodeInterfaceImpl(
std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface);
std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface> node_clock_interface);

~LifecycleNodeInterfaceImpl();

Expand Down Expand Up @@ -155,6 +157,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
using NodeBasePtr = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
using NodeServicesPtr = std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>;
using NodeLoggingPtr = std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>;
using NodeClockPtr = std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>;
using ChangeStateSrvPtr = std::shared_ptr<rclcpp::Service<ChangeStateSrv>>;
using GetStateSrvPtr = std::shared_ptr<rclcpp::Service<GetStateSrv>>;
using GetAvailableStatesSrvPtr =
Expand All @@ -167,6 +170,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
NodeBasePtr node_base_interface_;
NodeServicesPtr node_services_interface_;
NodeLoggingPtr node_logging_interface_;
NodeClockPtr node_clock_interface_;
ChangeStateSrvPtr srv_change_state_;
GetStateSrvPtr srv_get_state_;
GetAvailableStatesSrvPtr srv_get_available_states_;
Expand Down