{"action":"created","comment":{"url":"https://api.github.com/repos/ros2/rcl/pulls/comments/91275107","pull_request_review_id":11775844,"id":91275107,"diff_hunk":"@@ -0,0 +1,203 @@\n+// Copyright 2016 Open Source Robotics Foundation, Inc.\n+//\n+// Licensed under the Apache License, Version 2.0 (the \"License\");\n+// you may not use this file except in compliance with the License.\n+// You may obtain a copy of the License at\n+//\n+//     http://www.apache.org/licenses/LICENSE-2.0\n+//\n+// Unless required by applicable law or agreed to in writing, software\n+// distributed under the License is distributed on an \"AS IS\" BASIS,\n+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+// See the License for the specific language governing permissions and\n+// limitations under the License.\n+\n+#if __cplusplus\n+extern \"C\"\n+{\n+#endif\n+\n+#include <stdio.h>\n+#include <string.h>\n+\n+#include \"rosidl_generator_c/message_type_support.h\"\n+#include \"rosidl_generator_c/string_functions.h\"\n+\n+#include \"lifecycle_msgs/msg/transition_event.h\"\n+#include \"lifecycle_msgs/srv/get_state.h\"\n+#include \"lifecycle_msgs/srv/change_state.h\"\n+\n+#include \"rcl/error_handling.h\"\n+\n+#include \"rcl_lifecycle/data_types.h\"\n+\n+#include \"com_interface.hxx\"\n+\n+static lifecycle_msgs__msg__TransitionEvent msg;\n+\n+bool concatenate(const char ** prefix, const char ** suffix, char ** result)\n+{\n+  size_t prefix_size = strlen(*prefix);\n+  size_t suffix_size = strlen(*suffix);\n+  if ((prefix_size + suffix_size) >= 255) {\n+    return false;\n+  }\n+  *result = malloc((prefix_size + suffix_size) * sizeof(char));\n+  memcpy(*result, *prefix, prefix_size);\n+  memcpy(*result + prefix_size, *suffix, suffix_size + 1);\n+  return true;\n+}\n+\n+rcl_lifecycle_com_interface_t\n+rcl_lifecycle_get_zero_initialized_com_interface()\n+{\n+  rcl_lifecycle_com_interface_t com_interface;\n+  com_interface.state_publisher = rcl_get_zero_initialized_publisher();\n+  com_interface.srv_get_state = rcl_get_zero_initialized_service();\n+  com_interface.srv_change_state = rcl_get_zero_initialized_service();\n+\n+  return com_interface;\n+}\n+\n+rcl_ret_t\n+rcl_lifecycle_com_interface_init(rcl_lifecycle_com_interface_t * com_interface,\n+  rcl_node_t * node_handle,\n+  const rosidl_message_type_support_t * ts_pub_notify,\n+  const rosidl_service_type_support_t * ts_srv_get_state,\n+  const rosidl_service_type_support_t * ts_srv_change_state)\n+{\n+  if (!ts_pub_notify) {\n+    RCL_SET_ERROR_MSG(\"ts_pub_notify is NULL\");\n+    return RCL_RET_ERROR;\n+  }\n+  if (!ts_srv_get_state) {\n+    RCL_SET_ERROR_MSG(\"ts_srv_get_state is NULL\");\n+    return RCL_RET_ERROR;\n+  }\n+  if (!ts_srv_change_state) {\n+    RCL_SET_ERROR_MSG(\"ts_srv_change_state is NULL\");\n+    return RCL_RET_ERROR;\n+  }\n+\n+\n+  const char * node_name = rcl_node_get_name(node_handle);\n+\n+  {  // initialize publisher\n+     // Build topic, topic suffix hardcoded for now\n+     // and limited in length of 255\n+    const char * topic_prefix = \"__transition_notify\";\n+    char * topic_name;\n+    if (concatenate(&node_name, &topic_prefix, &topic_name) != true) {\n+      RCL_SET_ERROR_MSG(\"Topic name exceeds maximum size of 255\");\n+      com_interface = NULL;\n+      return RCL_RET_ERROR;\n+    }\n+\n+    rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();\n+    rcl_ret_t ret = rcl_publisher_init(&com_interface->state_publisher,\n+        node_handle, ts_pub_notify, topic_name, &publisher_options);\n+    free(topic_name);\n+\n+    if (ret != RCL_RET_OK) {\n+      com_interface = NULL;\n+      return ret;\n+    }\n+\n+    // initialize static message for notification\n+    lifecycle_msgs__msg__TransitionEvent__init(&msg);\n+  }\n+\n+  {  // initialize get state service\n+     // Build topic, topic suffix hardcoded for now\n+     // and limited in length of 255\n+    const char * topic_prefix = \"__get_state\";\n+    char * topic_name;\n+    if (concatenate(&node_name, &topic_prefix, &topic_name) != true) {\n+      RCL_SET_ERROR_MSG(\"Topic name exceeds maximum size of 255\");\n+      com_interface = NULL;\n+      return RCL_RET_ERROR;\n+    }\n+\n+    rcl_service_options_t service_options = rcl_service_get_default_options();\n+    rcl_ret_t ret = rcl_service_init(&com_interface->srv_get_state,\n+        node_handle, ts_srv_get_state, topic_name, &service_options);\n+    free(topic_name);\n+\n+    if (ret != RCL_RET_OK) {\n+      com_interface = NULL;\n+      return ret;\n+    }\n+  }\n+\n+  {  // initialize change state service\n+     // Build topic, topic suffix hardcoded for now\n+     // and limited in length of 255\n+    const char * topic_prefix = \"__change_state\";\n+    char * topic_name;\n+    if (concatenate(&node_name, &topic_prefix, &topic_name) != true) {\n+      RCL_SET_ERROR_MSG(\"Topic name exceeds maximum size of 255\");\n+      com_interface = NULL;\n+      return RCL_RET_ERROR;\n+    }\n+\n+    rcl_service_options_t service_options = rcl_service_get_default_options();\n+    rcl_ret_t ret = rcl_service_init(&com_interface->srv_change_state,\n+        node_handle, ts_srv_change_state, topic_name, &service_options);\n+    free(topic_name);\n+\n+    if (ret != RCL_RET_OK) {\n+      com_interface = NULL;\n+      return ret;\n+    }\n+  }\n+  return RCL_RET_OK;\n+}\n+\n+rcl_ret_t\n+rcl_lifecycle_com_interface_fini(rcl_lifecycle_com_interface_t * com_interface,\n+  rcl_node_t * node_handle)\n+{\n+  rcl_ret_t fcn_ret = RCL_RET_OK;\n+  {  // destroy get state srv\n+    rcl_ret_t ret = rcl_service_fini(&com_interface->srv_get_state,\n+        node_handle);\n+    if (ret != RCL_RET_OK) {\n+      fcn_ret = RCL_RET_ERROR;\n+    }\n+  }\n+\n+  {  // destroy change state srv\n+    rcl_ret_t ret = rcl_service_fini(&com_interface->srv_change_state,\n+        node_handle);\n+    if (ret != RCL_RET_OK) {\n+      fcn_ret = RCL_RET_ERROR;\n+    }\n+  }\n+\n+  {  // destroy the publisher\n+    rcl_ret_t ret = rcl_publisher_fini(&com_interface->state_publisher,\n+        node_handle);\n+    if (ret != RCL_RET_OK) {\n+      fcn_ret = RCL_RET_ERROR;\n+    }\n+    lifecycle_msgs__msg__TransitionEvent__fini(&msg);\n+  }\n+\n+  return fcn_ret;\n+}\n+\n+rcl_ret_t\n+rcl_lifecycle_com_interface_publish_notification(rcl_lifecycle_com_interface_t * com_interface,\n+  const rcl_lifecycle_state_t * start, const rcl_lifecycle_state_t * goal)\n+{\n+  msg.start_state.id = start->id;\n+  rosidl_generator_c__String__assign(&msg.start_state.label, start->label);","path":"rcl_lifecycle/src/com_interface.c","position":194,"original_position":194,"commit_id":"cd22aad9771e15c468a2fd085716ea570aa895f8","original_commit_id":"cd22aad9771e15c468a2fd085716ea570aa895f8","user":{"login":"wjwwood","id":100427,"avatar_url":"https://avatars.githubusercontent.com/u/100427?v=3","gravatar_id":"","url":"https://api.github.com/users/wjwwood","html_url":"https://github.com/wjwwood","followers_url":"https://api.github.com/users/wjwwood/followers","following_url":"https://api.github.com/users/wjwwood/following{/other_user}","gists_url":"https://api.github.com/users/wjwwood/gists{/gist_id}","starred_url":"https://api.github.com/users/wjwwood/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wjwwood/subscriptions","organizations_url":"https://api.github.com/users/wjwwood/orgs","repos_url":"https://api.github.com/users/wjwwood/repos","events_url":"https://api.github.com/users/wjwwood/events{/privacy}","received_events_url":"https://api.github.com/users/wjwwood/received_events","type":"User","site_admin":false},"body":"This function returns a bool which should be checked.","created_at":"2016-12-07T11:33:10Z","updated_at":"2016-12-07T11:34:13Z","html_url":"https://github.com/ros2/rcl/pull/91#discussion_r91275107","pull_request_url":"https://api.github.com/repos/ros2/rcl/pulls/91","_links":{"self":{"href":"https://api.github.com/repos/ros2/rcl/pulls/comments/91275107"},"html":{"href":"https://github.com/ros2/rcl/pull/91#discussion_r91275107"},"pull_request":{"href":"https://api.github.com/repos/ros2/rcl/pulls/91"}}},"pull_request":{"url":"https://api.github.com/repos/ros2/rcl/pulls/91","id":95624644,"html_url":"https://github.com/ros2/rcl/pull/91","diff_url":"https://github.com/ros2/rcl/pull/91.diff","patch_url":"https://github.com/ros2/rcl/pull/91.patch","issue_url":"https://api.github.com/repos/ros2/rcl/issues/91","number":91,"state":"open","locked":false,"title":"(refactor) add rcl_lifecycle 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