.. _program_listing_file__tmp_ws_src_transport_drivers_serial_driver_include_serial_driver_serial_bridge_node.hpp:

Program Listing for File serial_bridge_node.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_transport_drivers_serial_driver_include_serial_driver_serial_bridge_node.hpp>` (``/tmp/ws/src/transport_drivers/serial_driver/include/serial_driver/serial_bridge_node.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 LeoDrive, Copyright 2021 the Autoware Foundation
   //
   // 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 SERIAL_DRIVER__SERIAL_BRIDGE_NODE_HPP_
   #define SERIAL_DRIVER__SERIAL_BRIDGE_NODE_HPP_
   
   #include "serial_driver/serial_driver.hpp"
   
   #include <chrono>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_lifecycle/lifecycle_node.hpp>
   #include <lifecycle_msgs/msg/state.hpp>
   
   #include "msg_converters/converters.hpp"
   
   namespace lc = rclcpp_lifecycle;
   using LNI = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface;
   using std_msgs::msg::UInt8MultiArray;
   
   namespace drivers
   {
   namespace serial_driver
   {
   
   class SerialBridgeNode final
     : public lc::LifecycleNode
   {
   public:
     explicit SerialBridgeNode(const rclcpp::NodeOptions & options);
   
     SerialBridgeNode(
       const rclcpp::NodeOptions & options,
       const IoContext & ctx);
   
     ~SerialBridgeNode();
   
     LNI::CallbackReturn on_configure(const lc::State & state) override;
   
     LNI::CallbackReturn on_activate(const lc::State & state) override;
   
     LNI::CallbackReturn on_deactivate(const lc::State & state) override;
   
     LNI::CallbackReturn on_cleanup(const lc::State & state) override;
   
     LNI::CallbackReturn on_shutdown(const lc::State & state) override;
   
     void subscriber_callback(const UInt8MultiArray::SharedPtr msg);
   
     void receive_callback(const std::vector<uint8_t> & buffer, const size_t & bytes_transferred);
   
   private:
     void get_params();
   
     std::unique_ptr<IoContext> m_owned_ctx{};
     std::string m_device_name{};
     std::unique_ptr<SerialPortConfig> m_device_config;
     std::unique_ptr<SerialDriver> m_serial_driver;
     lc::LifecyclePublisher<UInt8MultiArray>::SharedPtr m_publisher;
     rclcpp::Subscription<UInt8MultiArray>::SharedPtr m_subscriber;
   };  // class SerialBridgeNode
   
   }  // namespace serial_driver
   }  // namespace drivers
   
   #endif  // SERIAL_DRIVER__SERIAL_BRIDGE_NODE_HPP_