.. _program_listing_file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode_handling.hpp:

Program Listing for File mode_handling.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode_handling.hpp>` (``/tmp/ws/src/system_modes/system_modes/include/system_modes/mode_handling.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2018 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/microros/system_modes
   //
   // 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.
   #pragma once
   
   #include <stdint.h>
   #include <shared_mutex>
   #include <rclcpp/parameter.hpp>
   #include <rclcpp/parameter_map.hpp>
   
   #include <map>
   #include <mutex>
   #include <string>
   #include <memory>
   #include <vector>
   #include <utility>
   
   #include "system_modes/mode.hpp"
   #include "system_modes/mode_impl.hpp"
   
   namespace system_modes
   {
   
   struct ModeRule
   {
     std::string name;
   
     std::string system;
     StateAndMode system_target;
   
     std::string part;
     StateAndMode part_actual;
   
     StateAndMode new_system_target;
   };
   
   using RulesMap = std::map<std::string, ModeRule>;
   
   class ModeHandling
   {
   public:
     explicit ModeHandling(const std::string & model_path);
     // cppcheck-suppress unknownMacro
     RCLCPP_DISABLE_COPY(ModeHandling)
   
     virtual ~ModeHandling() = default;
     virtual const std::vector<ModeRule> get_rules_for(
       const std::string & system,
       const StateAndMode & target);
   
   protected:
     mutable std::shared_timed_mutex rules_mutex_;
   
   private:
     std::map<std::string, RulesMap> rules_;
   
     virtual void read_rules_from_model(const std::string & model_path);
     virtual void add_rule(
       const std::string & part,
       const std::string & rule_name,
       const rclcpp::Parameter & rule_param);
   };
   
   }  // namespace system_modes