Cleanup the lifecycle implementation (ros2#2027)

* Split lifecycle_node_interface_impl into header and implementation.

There is no reason it should all be in the header file.  No
functional change.

* Mark LifecycleNodeInterfaceImpl as final.

* Update documentation about return codes.

* Mark a bunch of LifecycleNodeInterfaceImpl methods as const.

* Make most of LifecycleNodeInterfaceImpl private.

* Mark some LifecycleNode methods as const.

* Disable copies on LifecycleNodeInterfaceImpl.

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

rclcpp_lifecycle/CMakeLists.txt

@@ -19,6 +19,7 @@ find_package(lifecycle_msgs REQUIRED)
 ### CPP High level library
 add_library(rclcpp_lifecycle
   src/lifecycle_node.cpp
+  src/lifecycle_node_interface_impl.cpp
   src/managed_entity.cpp
   src/node_interfaces/lifecycle_node_interface.cpp
   src/state.cpp

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -752,23 +752,23 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    */
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<State>
-  get_available_states();
+  get_available_states() const;
 
   /// Return a list with the current available transitions.
   /**
    * \return list with the current available transitions.
    */
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<Transition>
-  get_available_transitions();
+  get_available_transitions() const;
 
   /// Return a list with all the transitions.
   /**
    * \return list with all the transitions in the transition graph.
    */
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<Transition>
-  get_transition_graph();
+  get_transition_graph() const;
 
   /// Trigger the specified transition.
   /*

rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp

@@ -63,39 +63,39 @@ class LifecycleNodeInterface
 
   /// Callback function for cleanup transition
   /*
-   * \return true by default
+   * \return SUCCESS by default
    */
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn
   on_cleanup(const State & previous_state);
 
   /// Callback function for shutdown transition
   /*
-   * \return true by default
+   * \return SUCCESS by default
    */
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn
   on_shutdown(const State & previous_state);
 
   /// Callback function for activate transition
   /*
-   * \return true by default
+   * \return SUCCESS by default
    */
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn
   on_activate(const State & previous_state);
 
   /// Callback function for deactivate transition
   /*
-   * \return true by default
+   * \return SUCCESS by default
    */
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn
   on_deactivate(const State & previous_state);
 
   /// Callback function for errorneous transition
   /*
-   * \return false by default
+   * \return SUCCESS by default
    */
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -509,19 +509,19 @@ LifecycleNode::get_current_state()
 }
 
 std::vector<State>
-LifecycleNode::get_available_states()
+LifecycleNode::get_available_states() const
 {
   return impl_->get_available_states();
 }
 
 std::vector<Transition>
-LifecycleNode::get_available_transitions()
+LifecycleNode::get_available_transitions() const
 {
   return impl_->get_available_transitions();
 }
 
 std::vector<Transition>
-LifecycleNode::get_transition_graph()
+LifecycleNode::get_transition_graph() const
 {
   return impl_->get_transition_graph();
 }