.. _program_listing_file_include_ros2_ouster_interfaces_lifecycle_interface.hpp:

Program Listing for File lifecycle_interface.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_interfaces_lifecycle_interface.hpp>` (``include/ros2_ouster/interfaces/lifecycle_interface.hpp``)

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

.. code-block:: cpp

   // 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_