lifecycle_node_interface.hpp

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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// 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 RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
#define RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
 
#include "lifecycle_msgs/msg/transition.hpp"
 
#include "rcl_lifecycle/rcl_lifecycle.h"
 
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/visibility_control.h"
 
namespace rclcpp_lifecycle
{
namespace node_interfaces
{
 
class LifecycleNodeInterface
{
protected:
  RCLCPP_LIFECYCLE_PUBLIC
  LifecycleNodeInterface() {}
 
public:
  enum class CallbackReturn : uint8_t
  {
    SUCCESS = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS,
    FAILURE = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE,
    ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR
  };
 
  /*
   * \return true by default
   */
  RCLCPP_LIFECYCLE_PUBLIC
  virtual CallbackReturn
  on_configure(const State & previous_state);
 
  /*
   * \return true by default
   */
  RCLCPP_LIFECYCLE_PUBLIC
  virtual CallbackReturn
  on_cleanup(const State & previous_state);
 
  /*
   * \return true by default
   */
  RCLCPP_LIFECYCLE_PUBLIC
  virtual CallbackReturn
  on_shutdown(const State & previous_state);
 
  /*
   * \return true by default
   */
  RCLCPP_LIFECYCLE_PUBLIC
  virtual CallbackReturn
  on_activate(const State & previous_state);
 
  /*
   * \return true by default
   */
  RCLCPP_LIFECYCLE_PUBLIC
  virtual CallbackReturn
  on_deactivate(const State & previous_state);
 
  /*
   * \return false by default
   */
  RCLCPP_LIFECYCLE_PUBLIC
  virtual CallbackReturn
  on_error(const State & previous_state);
 
  RCLCPP_LIFECYCLE_PUBLIC
  virtual
  ~LifecycleNodeInterface() {}
};
 
}  // namespace node_interfaces
}  // namespace rclcpp_lifecycle
#endif  // RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_