.. _program_listing_file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode.hpp:

Program Listing for File mode.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode.hpp>` (``/tmp/ws/src/system_modes/system_modes/include/system_modes/mode.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 "system_modes/mode_impl.hpp"
   
   #include <rclcpp/macros.hpp>
   #include <rclcpp/node_interfaces/node_parameters.hpp>
   #include <rclcpp/parameter_map.hpp>
   
   #include <map>
   #include <mutex>
   #include <string>
   #include <vector>
   #include <memory>
   #include <utility>
   #include <iostream>
   
   namespace system_modes
   {
   
   class ModeBase;
   class DefaultMode;
   class Mode;
   
   using ModeBasePtr = std::shared_ptr<ModeBase>;
   using ModeConstPtr = std::shared_ptr<const ModeBase>;
   using ModePtr = std::shared_ptr<Mode>;
   using DefaultModePtr = std::shared_ptr<DefaultMode>;
   
   using ModeMap = std::map<std::string, ModeConstPtr>;
   
   class ModeBase
   {
   public:
     explicit ModeBase(const std::string & mode_name);
     virtual ~ModeBase() = default;
     // cppcheck-suppress unknownMacro
     RCLCPP_DISABLE_COPY(ModeBase)
   
     std::string get_name() const;
   
     virtual void set_parameter(const rclcpp::Parameter & parameter) = 0;
     virtual void set_parameters(const std::vector<rclcpp::Parameter> & parameters) = 0;
     virtual void set_part_mode(
       const std::string & part,
       const StateAndMode stateAndMode) = 0;
   
     virtual rclcpp::Parameter get_parameter(const std::string & param_name) const;
     virtual std::vector<std::string> get_parameter_names() const;
     virtual const std::vector<rclcpp::Parameter> get_parameters() const;
   
     virtual const std::vector<std::string> get_parts() const;
     virtual const StateAndMode get_part_mode(const std::string & part) const;
   
     virtual std::string print() const;
   
   protected:
     ModeImpl mode_impl_;
   };
   
   class DefaultMode : public ModeBase
   {
   public:
     DefaultMode();
     explicit DefaultMode(const std::string & mode_name) = delete;
     // cppcheck-suppress unknownMacro
     RCLCPP_DISABLE_COPY(DefaultMode)
   
     virtual void set_parameter(const rclcpp::Parameter & parameter);
     virtual void set_parameters(const std::vector<rclcpp::Parameter> & parameters);
   
     virtual void set_part_mode(
       const std::string & part,
       const StateAndMode stateAndMode);
   };
   
   class Mode : public ModeBase
   {
   public:
     explicit Mode(const std::string & mode_name) = delete;
     Mode(const std::string & mode_name, const DefaultModePtr default_mode);
     // cppcheck-suppress unknownMacro
     RCLCPP_DISABLE_COPY(Mode)
   
     virtual ~Mode() = default;
   
     virtual void set_parameter(const rclcpp::Parameter & parameter);
     virtual void set_parameters(const std::vector<rclcpp::Parameter> & parameters);
   
     virtual void set_part_mode(
       const std::string & part,
       const StateAndMode stateAndMode);
   };
   
   inline std::ostream & operator<<(std::ostream & os, const Mode & mode)
   {
     os.precision(3);
     os << mode.print();
     return os;
   }
   
   }  // namespace system_modes