cp_lifecycle_state_tracker.hpp

Go to the documentation of this file.

// Copyright 2024 RobosoftAI 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.
 
#pragma once
 
#include <smacc2/component.hpp>
 
#include <lifecycle_msgs/msg/state.hpp>
 
#include <mutex>
#include <optional>
#include <string>
 
namespace cl_lifecycle_node
{
class CpLifecycleStateTracker : public smacc2::ISmaccComponent
{
public:
  CpLifecycleStateTracker() = default;
  virtual ~CpLifecycleStateTracker() = default;
 
  void updateState(const lifecycle_msgs::msg::State & state);
 
  std::optional<lifecycle_msgs::msg::State> getCurrentState() const;
 
  std::optional<std::string> getCurrentStateLabel() const;
 
  uint8_t getCurrentStateId() const;
 
  void onInitialize() override;
 
private:
  std::optional<lifecycle_msgs::msg::State> currentState_;
  mutable std::mutex stateMutex_;
};
 
}  // namespace cl_lifecycle_node