make rcl_lifecycle_com_interface optional in lifecycle nodes

rcl_lifecycle/include/rcl_lifecycle/data_types.h

@@ -86,6 +86,17 @@ typedef struct rcl_lifecycle_com_interface_t
   rcl_service_t srv_get_transition_graph;
 } rcl_lifecycle_com_interface_t;
 
+/// It contains various options to configure the rcl_lifecycle_state_machine_t instance
+typedef struct rcl_lifecycle_state_machine_options_t
+{
+  /// Flag indicating whether the state machine shall be initialized with default states
+  bool initialize_default_states;
+  /// Flag indicating whether the com interface shall be used or not
+  bool enable_com_interface;
+  /// Allocator used for allocating states and transitions
+  rcl_allocator_t allocator;
+} rcl_lifecycle_state_machine_options_t;
+
 /// It contains the state machine data
 typedef struct rcl_lifecycle_state_machine_t
 {
@@ -95,6 +106,8 @@ typedef struct rcl_lifecycle_state_machine_t
   rcl_lifecycle_transition_map_t transition_map;
   /// Communication interface into a ROS world
   rcl_lifecycle_com_interface_t com_interface;
+  /// Options struct with which the state machine was initialized
+  rcl_lifecycle_state_machine_options_t options;
 } rcl_lifecycle_state_machine_t;
 
 #ifdef __cplusplus

rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h

@@ -194,6 +194,11 @@ rcl_lifecycle_transition_fini(
   rcl_lifecycle_transition_t * transition,
   const rcl_allocator_t * allocator);
 
+/// Return a default initialized state machine options struct.
+RCL_LIFECYCLE_PUBLIC
+rcl_lifecycle_state_machine_options_t
+rcl_lifecycle_get_default_state_machine_options();
+
 /// Return a rcl_lifecycle_state_machine_t struct with members set to `NULL` or 0.
 /**
  * Should be called to get a null rcl_lifecycle_state_machine_t before passing to
@@ -228,9 +233,7 @@ rcl_lifecycle_get_zero_initialized_state_machine();
  *    available transitions
  * \param[in] ts_srv_get_transition_graph pointer to the service that allows to get transitions from
  *    the graph
- * \param[in] default_states if `true` a new default state machine is initialized, otherwise
- *    the state_machine pointer is only used to initialize the interfaces
- * \param[in] allocator a valid allocator used to initialized the state machine
+ * \param[in] state_machine_optios collection of config options for initializing the state machine
  * \return `RCL_RET_OK` if the state machine was initialized successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if input params is NULL, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
@@ -247,8 +250,7 @@ rcl_lifecycle_state_machine_init(
   const rosidl_service_type_support_t * ts_srv_get_available_states,
   const rosidl_service_type_support_t * ts_srv_get_available_transitions,
   const rosidl_service_type_support_t * ts_srv_get_transition_graph,
-  bool default_states,
-  const rcl_allocator_t * allocator);
+  const rcl_lifecycle_state_machine_options_t * state_machine_options);
 
 /// Finalize a rcl_lifecycle_state_machine_t.
 /**
@@ -266,7 +268,6 @@ rcl_lifecycle_state_machine_init(
  *
  * \param[inout] state_machine struct to be finalized
  * \param[in] node_handle valid (not finalized) handle to the node
- * \param[in] allocator a valid allocator used to finalize the state machine
  * \return `RCL_RET_OK` if the state was finalized successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
@@ -276,8 +277,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_lifecycle_state_machine_fini(
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_node_t * node_handle,
-  const rcl_allocator_t * allocator);
+  rcl_node_t * node_handle);
 
 /// Check if a state machine is active.
 /**

rcl_lifecycle/src/com_interface.c

@@ -68,35 +68,104 @@ rcl_lifecycle_com_interface_init(
   const rosidl_service_type_support_t * ts_srv_get_available_states,
   const rosidl_service_type_support_t * ts_srv_get_available_transitions,
   const rosidl_service_type_support_t * ts_srv_get_transition_graph)
+{
+  rcl_ret_t ret = rcl_lifecycle_com_interface_publisher_init(
+    com_interface, node_handle, ts_pub_notify);
+  if (ret != RCL_RET_OK) {
+    return ret;
+  }
+
+  ret = rcl_lifecycle_com_interface_services_init(
+    com_interface,
+    node_handle,
+    ts_srv_change_state,
+    ts_srv_get_state,
+    ts_srv_get_available_states,
+    ts_srv_get_available_transitions,
+    ts_srv_get_transition_graph);
+
+  if (RCL_RET_OK != ret) {
+    // cleanup the publisher, which was correctly initialized
+    rcl_ret_t ret_fini = rcl_lifecycle_com_interface_publisher_fini(com_interface, node_handle);
+    // warning is already set, no need to log anything here
+    (void) ret_fini;
+  }
+
+  return ret;
+}
+
+rcl_ret_t
+rcl_lifecycle_com_interface_publisher_init(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle,
+  const rosidl_message_type_support_t * ts_pub_notify)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(com_interface, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_handle, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(ts_pub_notify, RCL_RET_INVALID_ARGUMENT);
+
+  // initialize publisher
+  rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
+  rcl_ret_t ret = rcl_publisher_init(
+    &com_interface->pub_transition_event, node_handle,
+    ts_pub_notify, pub_transition_event_topic, &publisher_options);
+
+  if (ret != RCL_RET_OK) {
+    goto fail;
+  }
+
+  // initialize static message for notification
+  lifecycle_msgs__msg__TransitionEvent__init(&msg);
+
+  return RCL_RET_OK;
+
+fail:
+  // error message is already logged on failure
+  ret = rcl_lifecycle_com_interface_publisher_fini(com_interface, node_handle);
+  (void) ret;
+  return RCL_RET_ERROR;
+}
+
+rcl_ret_t
+rcl_lifecycle_com_interface_publisher_fini(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle)
+{
+  lifecycle_msgs__msg__TransitionEvent__fini(&msg);
+
+  rcl_ret_t ret = rcl_publisher_fini(
+    &com_interface->pub_transition_event, node_handle);
+  if (ret != RCL_RET_OK) {
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher");
+  }
+
+  return ret;
+}
+
+rcl_ret_t
+rcl_lifecycle_com_interface_services_init(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle,
+  const rosidl_service_type_support_t * ts_srv_change_state,
+  const rosidl_service_type_support_t * ts_srv_get_state,
+  const rosidl_service_type_support_t * ts_srv_get_available_states,
+  const rosidl_service_type_support_t * ts_srv_get_available_transitions,
+  const rosidl_service_type_support_t * ts_srv_get_transition_graph)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(com_interface, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_handle, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_change_state, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_state, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_available_states, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_available_transitions, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(ts_srv_get_transition_graph, RCL_RET_INVALID_ARGUMENT);
 
-  // initialize publisher
-  {
-    rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
-    rcl_ret_t ret = rcl_publisher_init(
-      &com_interface->pub_transition_event, node_handle,
-      ts_pub_notify, pub_transition_event_topic, &publisher_options);
-
-    if (ret != RCL_RET_OK) {
-      goto fail;
-    }
-
-    // initialize static message for notification
-    lifecycle_msgs__msg__TransitionEvent__init(&msg);
-  }
+  rcl_ret_t ret = RCL_RET_OK;
 
   // initialize change state service
   {
     rcl_service_options_t service_options = rcl_service_get_default_options();
-    rcl_ret_t ret = rcl_service_init(
+    ret = rcl_service_init(
       &com_interface->srv_change_state, node_handle,
       ts_srv_change_state, srv_change_state_service, &service_options);
 
@@ -108,7 +177,7 @@ rcl_lifecycle_com_interface_init(
   // initialize get state service
   {
     rcl_service_options_t service_options = rcl_service_get_default_options();
-    rcl_ret_t ret = rcl_service_init(
+    ret = rcl_service_init(
       &com_interface->srv_get_state, node_handle,
       ts_srv_get_state, srv_get_state_service, &service_options);
 
@@ -120,7 +189,7 @@ rcl_lifecycle_com_interface_init(
   // initialize get available states service
   {
     rcl_service_options_t service_options = rcl_service_get_default_options();
-    rcl_ret_t ret = rcl_service_init(
+    ret = rcl_service_init(
       &com_interface->srv_get_available_states, node_handle,
       ts_srv_get_available_states, srv_get_available_states_service, &service_options);
 
@@ -132,7 +201,7 @@ rcl_lifecycle_com_interface_init(
   // initialize get available transitions service
   {
     rcl_service_options_t service_options = rcl_service_get_default_options();
-    rcl_ret_t ret = rcl_service_init(
+    ret = rcl_service_init(
       &com_interface->srv_get_available_transitions, node_handle,
       ts_srv_get_available_transitions, srv_get_available_transitions_service, &service_options);
 
@@ -144,7 +213,7 @@ rcl_lifecycle_com_interface_init(
   // initialize get transition graph service
   {
     rcl_service_options_t service_options = rcl_service_get_default_options();
-    rcl_ret_t ret = rcl_service_init(
+    ret = rcl_service_init(
       &com_interface->srv_get_transition_graph, node_handle,
       ts_srv_get_transition_graph, srv_get_transition_graph, &service_options);
 
@@ -155,32 +224,14 @@ rcl_lifecycle_com_interface_init(
   return RCL_RET_OK;
 
 fail:
-  if (RCL_RET_OK != rcl_publisher_fini(&com_interface->pub_transition_event, node_handle)) {
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher");
-  }
-  if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_change_state, node_handle)) {
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service");
-  }
-  if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_state, node_handle)) {
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service");
-  }
-  if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_states, node_handle)) {
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service");
-  }
-  if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_transitions, node_handle)) {
-    RCUTILS_LOG_ERROR_NAMED(
-      ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service");
-  }
-  if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_transition_graph, node_handle)) {
-    RCUTILS_LOG_ERROR_NAMED(
-      ROS_PACKAGE_NAME, "Failed to destroy get_transition_graph service");
-  }
-
+  // error messages already logged on failure
+  ret = rcl_lifecycle_com_interface_services_fini(com_interface, node_handle);
+  (void) ret;
   return RCL_RET_ERROR;
 }
 
 rcl_ret_t
-rcl_lifecycle_com_interface_fini(
+rcl_lifecycle_com_interface_services_fini(
   rcl_lifecycle_com_interface_t * com_interface,
   rcl_node_t * node_handle)
 {
@@ -191,6 +242,8 @@ rcl_lifecycle_com_interface_fini(
     rcl_ret_t ret = rcl_service_fini(
       &com_interface->srv_get_transition_graph, node_handle);
     if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Failed to destroy get_transition_graph service");
       fcn_ret = RCL_RET_ERROR;
     }
   }
@@ -200,6 +253,8 @@ rcl_lifecycle_com_interface_fini(
     rcl_ret_t ret = rcl_service_fini(
       &com_interface->srv_get_available_transitions, node_handle);
     if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service");
       fcn_ret = RCL_RET_ERROR;
     }
   }
@@ -209,6 +264,7 @@ rcl_lifecycle_com_interface_fini(
     rcl_ret_t ret = rcl_service_fini(
       &com_interface->srv_get_available_states, node_handle);
     if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service");
       fcn_ret = RCL_RET_ERROR;
     }
   }
@@ -218,6 +274,7 @@ rcl_lifecycle_com_interface_fini(
     rcl_ret_t ret = rcl_service_fini(
       &com_interface->srv_get_state, node_handle);
     if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service");
       fcn_ret = RCL_RET_ERROR;
     }
   }
@@ -227,17 +284,35 @@ rcl_lifecycle_com_interface_fini(
     rcl_ret_t ret = rcl_service_fini(
       &com_interface->srv_change_state, node_handle);
     if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service");
       fcn_ret = RCL_RET_ERROR;
     }
   }
 
-  // destroy the publisher
+  return fcn_ret;
+}
+
+rcl_ret_t
+rcl_lifecycle_com_interface_fini(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle)
+{
+  rcl_ret_t fcn_ret = RCL_RET_OK;
+
+  // destroy the services
   {
-    lifecycle_msgs__msg__TransitionEvent__fini(&msg);
+    rcl_ret_t ret = rcl_lifecycle_com_interface_services_fini(
+      com_interface, node_handle);
+    if (RCL_RET_OK != ret) {
+      fcn_ret = RCL_RET_ERROR;
+    }
+  }
 
-    rcl_ret_t ret = rcl_publisher_fini(
-      &com_interface->pub_transition_event, node_handle);
-    if (ret != RCL_RET_OK) {
+  // destroy the event publisher
+  {
+    rcl_ret_t ret = rcl_lifecycle_com_interface_publisher_fini(
+      com_interface, node_handle);
+    if (RCL_RET_OK != ret) {
       fcn_ret = RCL_RET_ERROR;
     }
   }

rcl_lifecycle/src/com_interface.h

@@ -39,6 +39,36 @@ rcl_lifecycle_com_interface_init(
   const rosidl_service_type_support_t * ts_srv_get_available_transitions,
   const rosidl_service_type_support_t * ts_srv_get_transition_graph);
 
+rcl_ret_t
+RCL_WARN_UNUSED
+rcl_lifecycle_com_interface_publisher_init(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle,
+  const rosidl_message_type_support_t * ts_pub_notify);
+
+rcl_ret_t
+RCL_WARN_UNUSED
+rcl_lifecycle_com_interface_publisher_fini(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle);
+
+rcl_ret_t
+RCL_WARN_UNUSED
+rcl_lifecycle_com_interface_services_init(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle,
+  const rosidl_service_type_support_t * ts_srv_change_state,
+  const rosidl_service_type_support_t * ts_srv_get_state,
+  const rosidl_service_type_support_t * ts_srv_get_available_states,
+  const rosidl_service_type_support_t * ts_srv_get_available_transitions,
+  const rosidl_service_type_support_t * ts_srv_get_transition_graph);
+
+rcl_ret_t
+RCL_WARN_UNUSED
+rcl_lifecycle_com_interface_services_fini(
+  rcl_lifecycle_com_interface_t * com_interface,
+  rcl_node_t * node_handle);
+
 rcl_ret_t
 RCL_WARN_UNUSED
 rcl_lifecycle_com_interface_fini(