.. _program_listing_file_include_rclcpp_lifecycle_node_interfaces_lifecycle_node_interface.hpp:

Program Listing for File lifecycle_node_interface.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_lifecycle_node_interfaces_lifecycle_node_interface.hpp>` (``include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp``)

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

.. code-block:: cpp

   // Copyright 2016 Open Source Robotics Foundation, Inc.
   //
   // 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 RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
   #define RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
   
   #include "lifecycle_msgs/msg/transition.hpp"
   
   #include "rcl_lifecycle/rcl_lifecycle.h"
   
   #include "rclcpp_lifecycle/state.hpp"
   #include "rclcpp_lifecycle/visibility_control.h"
   
   namespace rclcpp_lifecycle
   {
   namespace node_interfaces
   {
   
   class LifecycleNodeInterface
   {
   protected:
     RCLCPP_LIFECYCLE_PUBLIC
     LifecycleNodeInterface() {}
   
   public:
     enum class CallbackReturn : uint8_t
     {
       SUCCESS = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS,
       FAILURE = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE,
       ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR
     };
   
     /*
      * \return true by default
      */
     RCLCPP_LIFECYCLE_PUBLIC
     virtual CallbackReturn
     on_configure(const State & previous_state);
   
     /*
      * \return true by default
      */
     RCLCPP_LIFECYCLE_PUBLIC
     virtual CallbackReturn
     on_cleanup(const State & previous_state);
   
     /*
      * \return true by default
      */
     RCLCPP_LIFECYCLE_PUBLIC
     virtual CallbackReturn
     on_shutdown(const State & previous_state);
   
     /*
      * \return true by default
      */
     RCLCPP_LIFECYCLE_PUBLIC
     virtual CallbackReturn
     on_activate(const State & previous_state);
   
     /*
      * \return true by default
      */
     RCLCPP_LIFECYCLE_PUBLIC
     virtual CallbackReturn
     on_deactivate(const State & previous_state);
   
     /*
      * \return false by default
      */
     RCLCPP_LIFECYCLE_PUBLIC
     virtual CallbackReturn
     on_error(const State & previous_state);
   
     RCLCPP_LIFECYCLE_PUBLIC
     virtual
     ~LifecycleNodeInterface() {}
   };
   
   }  // namespace node_interfaces
   }  // namespace rclcpp_lifecycle
   #endif  // RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_