.. _program_listing_file__tmp_ws_src_cascade_lifecycle_rclcpp_cascade_lifecycle_include_rclcpp_cascade_lifecycle_rclcpp_cascade_lifecycle.hpp:

Program Listing for File rclcpp_cascade_lifecycle.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_cascade_lifecycle_rclcpp_cascade_lifecycle_include_rclcpp_cascade_lifecycle_rclcpp_cascade_lifecycle.hpp>` (``/tmp/ws/src/cascade_lifecycle/rclcpp_cascade_lifecycle/include/rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp``)

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

.. code-block:: cpp

   // 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_