runtime/env_manager/env_interface/src/env_interface_base.cpp

#include "env_interface/env_interface_base.hpp"

namespace env_interface
{

CallbackReturn  
EnvInterfaceBase::init(
        const std::string& t_env_name, 
        const std::string & t_namespace, 
        const rclcpp::NodeOptions & t_node_options)
{
    m_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
        t_env_name, t_namespace, t_node_options, false);

    if (on_init() == CallbackReturn::FAILURE)
    {
        return CallbackReturn::FAILURE;
    }

    m_node->register_on_configure(
        std::bind(&EnvInterfaceBase::on_configure, this, std::placeholders::_1)
    );
    m_node->register_on_activate(
        std::bind(&EnvInterfaceBase::on_activate, this, std::placeholders::_1)
    );
    m_node->register_on_cleanup(
        std::bind(&EnvInterfaceBase::on_cleanup, this, std::placeholders::_1)
    );
    m_node->register_on_deactivate(
        std::bind(&EnvInterfaceBase::on_deactivate, this, std::placeholders::_1)
    );
    m_node->register_on_error(
        std::bind(&EnvInterfaceBase::on_error, this, std::placeholders::_1)
    );
    m_node->register_on_shutdown(
        std::bind(&EnvInterfaceBase::on_shutdown, this, std::placeholders::_1)
    );

    return CallbackReturn::SUCCESS;
}

const rclcpp_lifecycle::State& 
EnvInterfaceBase::configure()
{
    return getNode()->configure();
}

std::shared_ptr<rclcpp_lifecycle::LifecycleNode> 
EnvInterfaceBase::getNode() 
{
    if (!m_node.get())
    {
        throw std::runtime_error("Lifecycle node hasn't been initialized yet");
    }
    return m_node;
}

const rclcpp_lifecycle::State & EnvInterfaceBase::getState() const
{
    return m_node->get_current_state();
}

} // namespace env_interface