.. _program_listing_file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_receiver_node.hpp:

Program Listing for File socket_can_receiver_node.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_receiver_node.hpp>` (``/tmp/ws/src/ros2_socketcan/ros2_socketcan/include/ros2_socketcan/socket_can_receiver_node.hpp``)

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

.. code-block:: cpp

   // 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.
   //
   // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
   
   #ifndef ROS2_SOCKETCAN__SOCKET_CAN_RECEIVER_NODE_HPP_
   #define ROS2_SOCKETCAN__SOCKET_CAN_RECEIVER_NODE_HPP_
   
   #include <memory>
   #include <thread>
   #include <string>
   #include <vector>
   
   #include "ros2_socketcan/visibility_control.hpp"
   #include "ros2_socketcan/socket_can_receiver.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_components/register_node_macro.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "rosidl_runtime_cpp/message_initialization.hpp"
   #include "can_msgs/msg/frame.hpp"
   #include "ros2_socketcan_msgs/msg/fd_frame.hpp"
   #include "lifecycle_msgs/msg/state.hpp"
   
   namespace lc = rclcpp_lifecycle;
   using LNI = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface;
   
   namespace drivers
   {
   namespace socketcan
   {
   class SOCKETCAN_PUBLIC SocketCanReceiverNode final
     : public lc::LifecycleNode
   {
   public:
     explicit SocketCanReceiverNode(rclcpp::NodeOptions options);
   
     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 receive();
   
   private:
     std::string interface_;
     std::shared_ptr<lc::LifecyclePublisher<can_msgs::msg::Frame>> frames_pub_;
     std::shared_ptr<lc::LifecyclePublisher<ros2_socketcan_msgs::msg::FdFrame>> fd_frames_pub_;
     std::unique_ptr<SocketCanReceiver> receiver_;
     std::unique_ptr<std::thread> receiver_thread_;
     std::chrono::nanoseconds interval_ns_;
     bool enable_fd_;
     bool use_bus_time_;
   };
   }  // namespace socketcan
   }  // namespace drivers
   
   #endif  // ROS2_SOCKETCAN__SOCKET_CAN_RECEIVER_NODE_HPP_