Module lifecycle 

Lifecycle node API (REP-2002)

Provides managed lifecycle state machines for nros nodes.

• LifecyclePollingNode — standalone state machine with plain function pointers (no_std)
• LifecyclePollingNodeCtx — standalone state machine with unsafe fn(*mut c_void) -> TransitionResult callbacks, for bridging the C FFI (no_std)

Modules

trampolines

Monomorphized extern "C" trampolines that recover &mut T from the FFI context pointer and dispatch to the LifecycleCallbacks method. rustc emits one per T, so there is no closure box — no_std-safe. Registered by Executor::register_lifecycle_node; not meant to be called directly.

Structs

LifecyclePollingNode

Standalone lifecycle state machine for no_std environments.

LifecyclePollingNodeCtx

Lifecycle state machine with unsafe fn(*mut c_void) -> TransitionResult callbacks.

Enums

LifecycleCallbackSlot

Which transition callback slot to register in LifecyclePollingNodeCtx::register.

LifecycleError

Error type for lifecycle transitions.

Traits

LifecycleCallbacks

Safe lifecycle-callback surface, symmetric with the C++ nros::LifecycleNode (rclcpp LifecycleNodeInterface). Implement the transitions you need; the rest default to Success (on_error to Failure), matching rclcpp’s non-pure-virtual defaults. Register the node with Executor::register_lifecycle_node, which binds the five REP-2002 services and wires each transition here — no unsafe in user code.

Type Aliases

LifecycleCallbackFn

Lifecycle callback function pointer (no_std compatible).

LifecycleCallbackFnCtx

Lifecycle callback taking a user context pointer (no_std, C FFI shape).