Merge branch 'humble' into http-client

.github/workflows/ci-format.yml

@@ -17,10 +17,10 @@ jobs:
     steps:
     - uses: actions/checkout@v2
 
-    - name: Install clang-format-12
+    - name: Install clang-format
       run: |
        apt update
-       apt install -y python3-pip clang-format-12 ros-humble-ament-cppcheck
+       apt install -y python3-pip clang-format ros-humble-ament-cppcheck
        git config --global --add safe.directory `pwd`
        pip install pre-commit
     - name: pre-commit

.pre-commit-config.yaml

@@ -63,7 +63,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors.hpp

@@ -23,4 +23,5 @@
 #include <lifecyclenode_client/client_behaviors/cb_cleanup.hpp>
 #include <lifecyclenode_client/client_behaviors/cb_configure.hpp>
 #include <lifecyclenode_client/client_behaviors/cb_deactivate.hpp>
+#include <lifecyclenode_client/client_behaviors/cb_deactivate_on_exit.hpp>
 #include <lifecyclenode_client/client_behaviors/cb_shutdown.hpp>

smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate_on_exit.hpp

@@ -0,0 +1,54 @@
+// Copyright 2021 RobosoftAI Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*****************************************************************************************************************
+ *
+ * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
+ *
+ ******************************************************************************************************************/
+
+#pragma once
+
+#include <lifecyclenode_client/lifecyclenode_client.hpp>
+#include <smacc2/smacc_asynchronous_client_behavior.hpp>
+
+namespace cl_lifecyclenode
+{
+class CbDeactivateOnExit : public smacc2::SmaccAsyncClientBehavior
+{
+public:
+  CbDeactivateOnExit() {}
+  virtual ~CbDeactivateOnExit() {}
+
+  template <typename TOrthogonal, typename TSourceObject>
+  void onOrthogonalAllocation()
+  {
+    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
+
+    this->requiresClient(this->lifecycleNodeClient_);
+
+    lifecycleNodeClient_->onTransitionOnDeactivateSuccess_.connect([this]()
+                                                                   { this->postSuccessEvent(); });
+    lifecycleNodeClient_->onTransitionOnDeactivateFailure_.connect([this]()
+                                                                   { this->postFailureEvent(); });
+    lifecycleNodeClient_->onTransitionOnDeactivateError_.connect([this]()
+                                                                 { this->postFailureEvent(); });
+  }
+
+  virtual void onExit() override { lifecycleNodeClient_->deactivate(); }
+
+private:
+  ClLifecycleNode * lifecycleNodeClient_;
+};
+}  // namespace cl_lifecyclenode