Program Listing for File lifecycle_interface.hpp

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// Copyright 2020, Steve Macenski
// 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 ROS2_OUSTER__INTERFACES__LIFECYCLE_INTERFACE_HPP_
#define ROS2_OUSTER__INTERFACES__LIFECYCLE_INTERFACE_HPP_

#include <string>

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

namespace lifecycle_interface
{

using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

class LifecycleInterface : public rclcpp_lifecycle::LifecycleNode
{
public:
  LifecycleInterface(const std::string & name, const rclcpp::NodeOptions & options);

  CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;

  CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;

  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;

  CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;

  CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;


  virtual void onConfigure() = 0;

  virtual void onActivate() = 0;

  virtual void onDeactivate() = 0;

  virtual void onError() = 0;

  virtual void onShutdown() = 0;

  virtual void onCleanup() = 0;

  inline bool isActive()
  {
    return is_active;
  }

private:
  bool is_active;
};

}  // namespace lifecycle_interface

#endif  // ROS2_OUSTER__INTERFACES__LIFECYCLE_INTERFACE_HPP_