.. _program_listing_file__tmp_ws_src_transport_drivers_udp_driver_include_udp_driver_udp_receiver_node.hpp:

Program Listing for File udp_receiver_node.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_transport_drivers_udp_driver_include_udp_driver_udp_receiver_node.hpp>` (``/tmp/ws/src/transport_drivers/udp_driver/include/udp_driver/udp_receiver_node.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 LeoDrive, 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.
   
   #ifndef UDP_DRIVER__UDP_RECEIVER_NODE_HPP_
   #define UDP_DRIVER__UDP_RECEIVER_NODE_HPP_
   
   #include "udp_driver/udp_driver.hpp"
   
   #include <chrono>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_lifecycle/lifecycle_node.hpp>
   #include <lifecycle_msgs/msg/state.hpp>
   
   #include "msg_converters/converters.hpp"
   
   namespace lc = rclcpp_lifecycle;
   using LNI = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface;
   
   namespace drivers
   {
   namespace udp_driver
   {
   
   class UdpReceiverNode final
     : public lc::LifecycleNode
   {
   public:
     explicit UdpReceiverNode(const rclcpp::NodeOptions & options);
   
     UdpReceiverNode(
       const rclcpp::NodeOptions &,
       const IoContext & ctx);
   
     ~UdpReceiverNode();
   
     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 receiver_callback(const std::vector<uint8_t> & buffer);
   
   private:
     void get_params();
   
     std::unique_ptr<IoContext> m_owned_ctx{};
     std::string m_ip{};
     uint16_t m_port{};
     std::unique_ptr<UdpDriver> m_udp_driver;
     lc::LifecyclePublisher<udp_msgs::msg::UdpPacket>::SharedPtr m_publisher;
   };  // class UdpReceiverNode
   
   }  // namespace udp_driver
   }  // namespace drivers
   
   #endif  // UDP_DRIVER__UDP_RECEIVER_NODE_HPP_