.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_lifecycle_manager_include_plansys2_lifecycle_manager_lifecycle_manager.hpp:

Program Listing for File lifecycle_manager.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_lifecycle_manager_include_plansys2_lifecycle_manager_lifecycle_manager.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_lifecycle_manager/include/plansys2_lifecycle_manager/lifecycle_manager.hpp``)

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

.. code-block:: cpp

   // Copyright 2019 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.
   
   #ifndef PLANSYS2_LIFECYCLE_MANAGER__LIFECYCLE_MANAGER_HPP_
   #define PLANSYS2_LIFECYCLE_MANAGER__LIFECYCLE_MANAGER_HPP_
   
   #include <chrono>
   #include <memory>
   #include <string>
   #include <map>
   
   #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 "rclcpp/rclcpp.hpp"
   
   #include "rcutils/logging_macros.h"
   
   namespace plansys2
   {
   
   template<typename FutureT, typename WaitTimeT>
   std::future_status
   wait_for_result(
     FutureT & future,
     WaitTimeT time_to_wait)
   {
     auto end = std::chrono::steady_clock::now() + time_to_wait;
     std::chrono::milliseconds wait_period(100);
     std::future_status status = std::future_status::timeout;
     do {
       auto now = std::chrono::steady_clock::now();
       auto time_left = end - now;
       if (time_left <= std::chrono::seconds(0)) {break;}
       status = future.wait_for((time_left < wait_period) ? time_left : wait_period);
     } while (rclcpp::ok() && status != std::future_status::ready);
     return status;
   }
   
   class LifecycleServiceClient : public rclcpp::Node
   {
   public:
     explicit LifecycleServiceClient(const std::string & node_name, const std::string & managed_node);
   
     void init();
     unsigned int get_state(std::chrono::seconds time_out = std::chrono::seconds(3));
     bool change_state(
       std::uint8_t transition,
       std::chrono::seconds time_out = std::chrono::seconds(3));
   
   private:
     std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState>> client_get_state_;
     std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState>> client_change_state_;
   
     std::string managed_node_;
   };
   
   bool
   startup_function(
     std::map<std::string, std::shared_ptr<LifecycleServiceClient>> & manager_nodes,
     std::chrono::seconds timeout);
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_LIFECYCLE_MANAGER__LIFECYCLE_MANAGER_HPP_