Feature request
Rewrite rclcpp::lifecycle for clearer separation of concerns (SoC).
Initial PR: #2211
Feature description
I rewrote some of the lifecycle backend code while attempting to create async transitions (#2214). It was suggested it would be best to separate this SoC contribution out into its own issue/PR.
The primary goal was to separate out some of LifecycleNodeInterfaceImpl is responsible for. Currently the LifecycleNodeInterfaceImpl is responsible for:
- managing
ManagedEntities
- managing underlying
rcl::state_machine
- managing services
I separated these out into files/classes.
Proposed architecture:
This follows more closely to a model-view-controller design:
LifecycleNodeInterfaceImpl: ("controller") owner of:
EntitiesManager: (model:managed_entities)responsible for entity stateStateManager: (model:lifecycle_state) responsible for lifecycle state_machineStateServicesManager: ("view + controller") public interface of services
I also separated out the change_state process into multiple functions to allow for easier splitting when creating async transitions. Additionally, I did some miscellaneous function cleanup and added helper functions for readability.
Feature request
Rewrite
rclcpp::lifecyclefor clearer separation of concerns (SoC).Initial PR: #2211
Feature description
I rewrote some of the lifecycle backend code while attempting to create async transitions (#2214). It was suggested it would be best to separate this SoC contribution out into its own issue/PR.
The primary goal was to separate out some of
LifecycleNodeInterfaceImplis responsible for. Currently theLifecycleNodeInterfaceImplis responsible for:ManagedEntitiesrcl::state_machineI separated these out into files/classes.
Proposed architecture:
This follows more closely to a model-view-controller design:
LifecycleNodeInterfaceImpl: ("controller") owner of:EntitiesManager: (model:managed_entities)responsible for entity stateStateManager: (model:lifecycle_state) responsible for lifecyclestate_machineStateServicesManager: ("view + controller") public interface of servicesI also separated out the
change_stateprocess into multiple functions to allow for easier splitting when creating async transitions. Additionally, I did some miscellaneous function cleanup and added helper functions for readability.