.. _program_listing_file__tmp_ws_src_mocap4r2_mocap4r2_dummy_driver_include_mocap4r2_dummy_driver_mocap4r2_dummy_driver.hpp:

Program Listing for File mocap4r2_dummy_driver.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mocap4r2_mocap4r2_dummy_driver_include_mocap4r2_dummy_driver_mocap4r2_dummy_driver.hpp>` (``/tmp/ws/src/mocap4r2/mocap4r2_dummy_driver/include/mocap4r2_dummy_driver/mocap4r2_dummy_driver.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 Institute for Robotics and Intelligent Machines,
   //                Georgia Institute of Technology
   // Copyright 2024 Intelligent Robotics Lab
   //
   // 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.
   //
   // Author: Christian Llanes <christian.llanes@gatech.edu>
   // Author: David Vargas Frutos <david.vargas@urjc.es>
   // Author: Francisco Martín <fmrico@urjc.es>
   
   #ifndef MOCAP4R2_DUMMY_DRIVER__MOCAP4R2_DUMMY_DRIVER_HPP_
   #define MOCAP4R2_DUMMY_DRIVER__MOCAP4R2_DUMMY_DRIVER_HPP_
   
   #include "mocap4r2_msgs/msg/marker.hpp"
   #include "mocap4r2_msgs/msg/markers.hpp"
   #include "mocap4r2_msgs/msg/rigid_body.hpp"
   #include "mocap4r2_msgs/msg/rigid_bodies.hpp"
   
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "lifecycle_msgs/msg/state.hpp"
   #include "lifecycle_msgs/msg/transition.hpp"
   #include "lifecycle_msgs/srv/change_state.hpp"
   #include "lifecycle_msgs/srv/get_state.hpp"
   
   #include "mocap4r2_control/ControlledLifecycleNode.hpp"
   
   
   namespace mocap4r2_dummy_driver
   {
   
   class DummyDriverNode : public mocap4r2_control::ControlledLifecycleNode
   {
   public:
     DummyDriverNode();
     ~DummyDriverNode();
   
     using CallbackReturnT =
       rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   
     CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_shutdown(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_error(const rclcpp_lifecycle::State & state);
   
     void publish_data();
   
   protected:
     void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override;
     void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override;
   
     rclcpp_lifecycle::LifecyclePublisher<mocap4r2_msgs::msg::Markers>::SharedPtr
       mocap4r2_markers_pub_;
     rclcpp_lifecycle::LifecyclePublisher<mocap4r2_msgs::msg::RigidBodies>::SharedPtr
       mocap4r2_rigid_body_pub_;
   
     rclcpp::TimerBase::SharedPtr timer_;
   
     uint32_t frame_number_{0};
   };
   
   }  // namespace mocap4r2_dummy_driver
   
   #endif  // MOCAP4R2_DUMMY_DRIVER__MOCAP4R2_DUMMY_DRIVER_HPP_