Program Listing for File graph_ignition.hpp

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#ifndef FUSE_MODELS__GRAPH_IGNITION_HPP_
#define FUSE_MODELS__GRAPH_IGNITION_HPP_

#include <atomic>
#include <memory>
#include <string>

#include <fuse_msgs/srv/set_graph.hpp>
#include <fuse_models/parameters/graph_ignition_params.hpp>

#include <fuse_core/async_sensor_model.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/graph_deserializer.hpp>

#include <fuse_msgs/msg/serialized_graph.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_srvs/srv/empty.hpp>


namespace fuse_models
{

class GraphIgnition : public fuse_core::AsyncSensorModel
{
public:
  FUSE_SMART_PTR_DEFINITIONS(GraphIgnition)
  using ParameterType = parameters::GraphIgnitionParams;

  GraphIgnition();

  ~GraphIgnition() = default;

  void initialize(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name,
    fuse_core::TransactionCallback transaction_callback) override;

  void start() override;

  void stop() override;

protected:
  void subscriberCallback(const fuse_msgs::msg::SerializedGraph & msg);

  bool setGraphServiceCallback(
    rclcpp::Service<fuse_msgs::srv::SetGraph>::SharedPtr service,
    std::shared_ptr<rmw_request_id_t> request_id,
    const fuse_msgs::srv::SetGraph::Request::SharedPtr req);

  void onInit() override;

  void process(
    const fuse_msgs::msg::SerializedGraph & msg, std::function<void()> post_process = nullptr);

  void sendGraph(const fuse_core::Graph & graph, const rclcpp::Time & stamp);

  fuse_core::node_interfaces::NodeInterfaces<
    fuse_core::node_interfaces::Base,
    fuse_core::node_interfaces::Graph,
    fuse_core::node_interfaces::Logging,
    fuse_core::node_interfaces::Parameters,
    fuse_core::node_interfaces::Services,
    fuse_core::node_interfaces::Topics,
    fuse_core::node_interfaces::Waitables
  > interfaces_;

  std::atomic_bool started_;
  rclcpp::Logger logger_;

  ParameterType params_;

  rclcpp::Client<std_srvs::srv::Empty>::SharedPtr reset_client_;
  rclcpp::Service<fuse_msgs::srv::SetGraph>::SharedPtr set_graph_service_;
  rclcpp::Subscription<fuse_msgs::msg::SerializedGraph>::SharedPtr sub_;

  fuse_core::GraphDeserializer graph_deserializer_;
};

}  // namespace fuse_models

#endif  // FUSE_MODELS__GRAPH_IGNITION_HPP_