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state.hpp
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100 lines (81 loc) · 2.47 KB
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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__STATE_HPP_
#define RCLCPP_LIFECYCLE__STATE_HPP_
#include <string>
#include "rclcpp_lifecycle/visibility_control.h"
#include "rcutils/allocator.h"
// forward declare rcl_state_t
typedef struct rcl_lifecycle_state_t rcl_lifecycle_state_t;
namespace rclcpp_lifecycle
{
/// Abstract class for the Lifecycle's states.
/**
* There are 4 primary states: Unconfigured, Inactive, Active and Finalized.
*/
class State
{
public:
RCLCPP_LIFECYCLE_PUBLIC
explicit State(rcutils_allocator_t allocator = rcutils_get_default_allocator());
/// State constructor.
/**
* \param[in] id of the state
* \param[in] label of the state
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
State(
uint8_t id,
const std::string & label,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
/// State constructor.
/**
* \param[in] rcl_lifecycle_state_handle structure with the state details
* \param[in] allocator a valid allocator used to initialized the state.
*/
RCLCPP_LIFECYCLE_PUBLIC
explicit State(
const rcl_lifecycle_state_t * rcl_lifecycle_state_handle,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
State(const State & rhs);
RCLCPP_LIFECYCLE_PUBLIC
virtual ~State();
RCLCPP_LIFECYCLE_PUBLIC
State & operator=(const State & rhs);
/// Return the id.
/**
* \return id of the state
*/
RCLCPP_LIFECYCLE_PUBLIC
uint8_t
id() const;
/// Return the label.
/**
* \return label of state
*/
RCLCPP_LIFECYCLE_PUBLIC
std::string
label() const;
protected:
RCLCPP_LIFECYCLE_PUBLIC
void
reset() noexcept;
rcutils_allocator_t allocator_;
bool owns_rcl_state_handle_;
rcl_lifecycle_state_t * state_handle_;
};
} // namespace rclcpp_lifecycle
#endif // RCLCPP_LIFECYCLE__STATE_HPP_