Program Listing for File lifecycle_manager.hpp

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// 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_