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_