.. _program_listing_file__tmp_ws_src_fmi_adapter_fmi_adapter_include_fmi_adapter_FMIAdapterNode.hpp:

Program Listing for File FMIAdapterNode.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_fmi_adapter_fmi_adapter_include_fmi_adapter_FMIAdapterNode.hpp>` (``/tmp/ws/src/fmi_adapter/fmi_adapter/include/fmi_adapter/FMIAdapterNode.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2019 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/boschresearch/fmi_adapter.
   //
   // 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.
   
   #ifndef FMI_ADAPTER__FMIADAPTERNODE_HPP_
   #define FMI_ADAPTER__FMIADAPTERNODE_HPP_
   
   #include <cassert>
   #include <map>
   #include <memory>
   #include <string>
   #include <utility>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_lifecycle/lifecycle_node.hpp>
   #include <std_msgs/msg/float64.hpp>
   
   namespace fmi_adapter
   {
   
   class FMIAdapter;
   
   class FMIAdapterNode : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     explicit FMIAdapterNode(const rclcpp::NodeOptions & options);
   
     RCLCPP_DISABLE_COPY(FMIAdapterNode)
   
     virtual ~FMIAdapterNode() = default;
   
     virtual rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_configure(const rclcpp_lifecycle::State &);
   
     virtual rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_activate(const rclcpp_lifecycle::State &);
   
     virtual rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &);
   
     virtual rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_cleanup(const rclcpp_lifecycle::State &);
   
     virtual rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_shutdown(const rclcpp_lifecycle::State &);
   
   private:
     std::shared_ptr<fmi_adapter::FMIAdapter> adapter_{};
   
     rclcpp::TimerBase::SharedPtr timer_{};
   
     std::map<std::string,
       std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float64>>> subscriptions_{};
   
     std::map<std::string,
       std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Float64>>> publishers_;
   };
   
   }  // namespace fmi_adapter
   
   #endif  // FMI_ADAPTER__FMIADAPTERNODE_HPP_