.. _program_listing_file__tmp_ws_src_rt_usb_9axisimu_driver_include_rt_usb_9axisimu_driver_rt_usb_9axisimu_driver_component.hpp:

Program Listing for File rt_usb_9axisimu_driver_component.hpp
=============================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rt_usb_9axisimu_driver_include_rt_usb_9axisimu_driver_rt_usb_9axisimu_driver_component.hpp>` (``/tmp/ws/src/rt_usb_9axisimu_driver/include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver_component.hpp``)

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

.. code-block:: cpp

   /*
    * rt_usb_9axisimu_driver_component.hpp
    *
    * License: BSD-3-Clause
    *
    * Copyright (c) 2015-2020 RT Corporation <support@rt-net.jp>
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    * 1. Redistributions of source code must retain the above copyright notice,
    *    this list of conditions and the following disclaimer.
    * 2. Redistributions in binary form must reproduce the above copyright
    *    notice, this list of conditions and the following disclaimer in the
    *    documentation and/or other materials provided with the distribution.
    * 3. Neither the name of RT Corporation nor the names of its
    *    contributors may be used to endorse or promote products derived from
    *    this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_
   #define RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "rt_usb_9axisimu_driver/visibility_control.h"
   #include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   #include "sensor_msgs/msg/magnetic_field.hpp"
   #include "std_msgs/msg/float64.hpp"
   
   namespace rt_usb_9axisimu_driver
   {
   class Driver : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     RT_USB_9AXISIMU_DRIVER_PUBLIC
     explicit Driver(const rclcpp::NodeOptions & options);
   
   protected:
     void on_publish_timer();
   
   private:
     std::unique_ptr<RtUsb9axisimuRosDriver> driver_;
   
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Imu>> imu_data_raw_pub_;
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::MagneticField>>
     imu_mag_pub_;
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Float64>>
     imu_temperature_pub_;
     rclcpp::TimerBase::SharedPtr publish_timer_;
   
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_configure(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_activate(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_cleanup(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_shutdown(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_error(const rclcpp_lifecycle::State &);
   };
   
   }  // namespace rt_usb_9axisimu_driver
   
   #endif  // RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_