.. _program_listing_file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode_impl.hpp:

Program Listing for File mode_impl.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode_impl.hpp>` (``/tmp/ws/src/system_modes/system_modes/include/system_modes/mode_impl.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 <rclcpp/node_interfaces/node_parameters.hpp>
   #include <rclcpp/parameter_map.hpp>
   
   #include <lifecycle_msgs/msg/state.hpp>
   
   #include <map>
   #include <mutex>
   #include <vector>
   #include <string>
   #include <memory>
   #include <utility>
   
   using lifecycle_msgs::msg::State;
   
   namespace system_modes
   {
   
   static const char DEFAULT_MODE[] = "__DEFAULT__";
   
   
   unsigned int state_id_(const std::string & state_label);
   const std::string state_label_(unsigned int state_id);
   
   unsigned int transition_id_(const std::string & transition_label);
   const std::string transition_label_(unsigned int transition_id);
   
   unsigned int goal_state_(unsigned int transition_id);
   
   struct StateAndMode
   {
     unsigned int state;
     std::string mode;
   
     explicit StateAndMode(unsigned int newstate = 0, const std::string & newmode = "")
     {
       state = newstate;
       mode = newmode;
     }
   
     bool operator==(const StateAndMode & cmp) const
     {
       if (cmp.state != state) {
         return false;
       } else if (cmp.state != State::PRIMARY_STATE_ACTIVE) {
         return true;
       }
   
       return cmp.mode.compare(mode) == 0 ||                            // same mode
              (cmp.mode.compare(DEFAULT_MODE) == 0 && mode.empty()) ||  // we consider empty and
              (mode.compare(DEFAULT_MODE) == 0 && cmp.mode.empty());    // DEFAULT_MODE the same
     }
   
     bool operator!=(const StateAndMode & cmp) const
     {
       return !(*this == cmp);
     }
   
     void from_string(const std::string & sam)
     {
       auto dot = sam.find(".");
       if (dot != std::string::npos) {
         state = state_id_(sam.substr(0, dot));
         mode = sam.substr(dot + 1);
       } else {
         state = state_id_(sam);
         mode = "";
       }
     }
   
     std::string as_string() const
     {
       if (state != State::PRIMARY_STATE_ACTIVE || mode.empty()) {
         return state_label_(state);
       }
       return state_label_(state) + "." + mode;
     }
   
     bool unknown()
     {
       return state == State::PRIMARY_STATE_UNKNOWN;
     }
   };
   
   class ModeImpl
   {
   public:
     explicit ModeImpl(const std::string & mode_name);
     virtual ~ModeImpl() = default;
     ModeImpl(const ModeImpl & copy) = delete;
   
     virtual std::string get_name() const;
   
     virtual void add_parameter(const rclcpp::Parameter & parameter);
     virtual void add_parameters(const std::vector<rclcpp::Parameter> & parameters);
     virtual void add_part_mode(
       const std::string & part,
       const StateAndMode stateAndMode);
   
     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);
   
     virtual std::vector<std::string> get_parameter_names() const;
     virtual rclcpp::Parameter get_parameter(const std::string & param_name) const;
     virtual bool get_parameter(const std::string & param_name, rclcpp::Parameter & parameter) 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;
   
   protected:
     std::string name_;
     std::map<std::string, rclcpp::Parameter> param_;
     std::map<std::string, StateAndMode> part_modes_;
     mutable std::mutex mutex_;
   };
   
   }  // namespace system_modes