Program Listing for File SickSafetyscannersLifeCycle.hpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

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#ifndef SICK_SAFETYSCANNERS2_SICKSAFETYSCANNERSLIFECYCLE_H
#define SICK_SAFETYSCANNERS2_SICKSAFETYSCANNERSLIFECYCLE_H

#include <sick_safetyscanners_base/SickSafetyscanners.h>
#include <sick_safetyscanners_base/Types.h>
#include <sick_safetyscanners_base/datastructure/Data.h>

#include <sick_safetyscanners2_interfaces/msg/extended_laser_scan.hpp>
#include <sick_safetyscanners2_interfaces/msg/output_paths.hpp>
#include <sick_safetyscanners2_interfaces/srv/field_data.hpp>

#include <sick_safetyscanners2/utils/Conversions.h>
#include <sick_safetyscanners2/utils/MessageCreator.h>

#include <lifecycle_msgs/msg/state.hpp>
#include <lifecycle_msgs/msg/transition.hpp>
#include <lifecycle_msgs/srv/change_state.hpp>
#include <lifecycle_msgs/srv/get_state.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <rclcpp_lifecycle/lifecycle_publisher.hpp>

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>

#include <string>

#include "./SickSafetyscanners.hpp"

namespace sick {

class SickSafetyscannersLifeCycle : public rclcpp_lifecycle::LifecycleNode,
                                    public SickSafetyscanners {
public:
  explicit SickSafetyscannersLifeCycle(const std::string &node_name,
                                       bool intra_process_comms = false);

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_configure(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_activate(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_deactivate(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_cleanup(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_shutdown(const rclcpp_lifecycle::State &);

private:
  // Publishers
  rclcpp_lifecycle::LifecyclePublisher<
      sick_safetyscanners2_interfaces::msg::ExtendedLaserScan>::SharedPtr
      m_extended_laser_scan_publisher;
  rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::LaserScan>::SharedPtr
      m_laser_scan_publisher;
  rclcpp_lifecycle::LifecyclePublisher<
      sick_safetyscanners2_interfaces::msg::OutputPaths>::SharedPtr
      m_output_paths_publisher;
  rclcpp_lifecycle::LifecyclePublisher<
      sick_safetyscanners2_interfaces::msg::RawMicroScanData>::SharedPtr
      m_raw_data_publisher;

  // Services
  rclcpp::Service<sick_safetyscanners2_interfaces::srv::FieldData>::SharedPtr
      m_field_data_service;

  // Callback function passed to the device for handling the received packages
  void receiveUDPPaket(const sick::datastructure::Data &data);
};
} // namespace sick

#endif // SICK_SAFETYSCANNERS2_SICKSAFETYSCANNERSLIFECYCLE_H