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rename get/set_state to get/set_lifecylce_state #1250

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merged 2 commits into from
Aug 26, 2024
Merged

rename get/set_state to get/set_lifecylce_state #1250

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7b77960
rename get/set_state to get/set_lifecylce_state
mamueluth Aug 15, 2024
c03a7f0
Merge branch 'master' into get_set_lifecycle_state
bmagyar Aug 26, 2024
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2 changes: 1 addition & 1 deletion diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ controller_interface::return_type DiffDriveController::update(
const rclcpp::Time & time, const rclcpp::Duration & period)
{
auto logger = get_node()->get_logger();
if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE)
{
if (!is_halted)
{
Expand Down
6 changes: 3 additions & 3 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ JointTrajectoryController::state_interface_configuration() const
controller_interface::return_type JointTrajectoryController::update(
const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
return controller_interface::return_type::OK;
}
Expand Down Expand Up @@ -593,7 +593,7 @@ void JointTrajectoryController::query_state_service(
{
const auto logger = get_node()->get_logger();
// Preconditions
if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
{
RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active.");
response->success = false;
Expand Down Expand Up @@ -1112,7 +1112,7 @@ rclcpp_action::GoalResponse JointTrajectoryController::goal_received_callback(
RCLCPP_INFO(get_node()->get_logger(), "Received new action goal");

// Precondition: Running controller
if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_ERROR(
get_node()->get_logger(), "Can't accept new action goals. Controller is not running.");
Expand Down
2 changes: 1 addition & 1 deletion tricycle_controller/src/tricycle_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ InterfaceConfiguration TricycleController::state_interface_configuration() const
controller_interface::return_type TricycleController::update(
const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE)
{
if (!is_halted)
{
Expand Down
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