Program Listing for File rclcpp_cascade_lifecycle.hpp
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// Copyright 2020 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 RCLCPP_CASCADE_LIFECYCLE__RCLCPP_CASCADE_LIFECYCLE_HPP_
#define RCLCPP_CASCADE_LIFECYCLE__RCLCPP_CASCADE_LIFECYCLE_HPP_
#include <set>
#include <map>
#include <string>
#include "rclcpp/node_options.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "rclcpp_lifecycle/visibility_control.h"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "cascade_lifecycle_msgs/msg/activation.hpp"
#include "cascade_lifecycle_msgs/msg/state.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/rclcpp.hpp"
namespace rclcpp_cascade_lifecycle
{
class CascadeLifecycleNode : public rclcpp_lifecycle::LifecycleNode
{
public:
RCLCPP_LIFECYCLE_PUBLIC
explicit CascadeLifecycleNode(
const std::string & node_name,
const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
RCLCPP_LIFECYCLE_PUBLIC
CascadeLifecycleNode(
const std::string & node_name,
const std::string & namespace_,
const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
void add_activation(const std::string & node_name);
void remove_activation(const std::string & node_name);
void clear_activation();
const std::set<std::string> & get_activators() const {return activators_;}
const std::set<std::string> & get_activations() const {return activations_;}
const std::map<std::string, uint8_t> & get_activators_state() const
{
return activators_state_;
}
private:
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_configure_internal(const rclcpp_lifecycle::State & previous_state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_cleanup_internal(const rclcpp_lifecycle::State & previous_state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_shutdown_internal(const rclcpp_lifecycle::State & previous_state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_activate_internal(const rclcpp_lifecycle::State & previous_state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_deactivate_internal(const rclcpp_lifecycle::State & previous_state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error_internal(const rclcpp_lifecycle::State & previous_state);
rclcpp_lifecycle::LifecyclePublisher<cascade_lifecycle_msgs::msg::State>::SharedPtr states_pub_;
rclcpp_lifecycle::LifecyclePublisher<cascade_lifecycle_msgs::msg::Activation>::SharedPtr
activations_pub_;
rclcpp::Subscription<cascade_lifecycle_msgs::msg::Activation>::SharedPtr activations_sub_;
rclcpp::Subscription<cascade_lifecycle_msgs::msg::State>::SharedPtr states_sub_;
rclcpp::TimerBase::SharedPtr timer_;
std::set<std::string> activators_;
std::set<std::string> activations_;
std::map<std::string, uint8_t> activators_state_;
void activations_callback(const cascade_lifecycle_msgs::msg::Activation::SharedPtr msg);
void states_callback(const cascade_lifecycle_msgs::msg::State::SharedPtr msg);
void update_state();
void timer_callback();
};
} // namespace rclcpp_cascade_lifecycle
#endif // RCLCPP_CASCADE_LIFECYCLE__RCLCPP_CASCADE_LIFECYCLE_HPP_