Add LifecycleSubscription #2715
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Signed-off-by: Aarav Gupta <[email protected]>
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| /// TODO: Hold onto the data that arrives before activation, and deliver that on activation. |
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besides this, i think subscription should not be discovered in the graph if that is in unconfigure state. if that comes to inactive state (means it is configured), subscription will be discovered in the ROS 2 network. and then hold onto the data in the rmw message queue not to take them out and dispose as described here.
for doing that, probably we need to have state control (configured, inactive) in SubscriberBase class and underlying implementations, and then on_configure callback, we can configure the subscription to be discovered. (on_activate, it can take the data out of the queue.) i am not sure how exactly we want to design this at this moment, but we would want to add some comments here too. (this feature is similar with LazySubscription concept.)
note that this requirement should also go to LifecyclePublisher as well.
what do you think?
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| void empty_callback(const test_msgs::msg::Empty msg) {} |
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i think one of the most important test case is missing here.
inactivestate callback should not be called. if called, asserts the test.activestate, callback should be called. if not called, asserts the test.
This PR uses most of the changes made in #2254, fixes some of the issues in that PR, and adds a test.