45 lines
1.5 KiB
C++
45 lines
1.5 KiB
C++
#include "env_interface/env_interface_base.hpp"
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namespace env_interface
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{
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CallbackReturn EnvInterfaceBase::init(const std::string& t_env_name, const std::string& t_namespace,
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const rclcpp::NodeOptions& t_node_options)
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{
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m_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>(t_env_name, t_namespace, t_node_options, false);
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if (on_init() == CallbackReturn::FAILURE)
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{
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return CallbackReturn::FAILURE;
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}
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m_node->register_on_configure(std::bind(&EnvInterfaceBase::on_configure, this, std::placeholders::_1));
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m_node->register_on_activate(std::bind(&EnvInterfaceBase::on_activate, this, std::placeholders::_1));
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m_node->register_on_cleanup(std::bind(&EnvInterfaceBase::on_cleanup, this, std::placeholders::_1));
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m_node->register_on_deactivate(std::bind(&EnvInterfaceBase::on_deactivate, this, std::placeholders::_1));
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m_node->register_on_error(std::bind(&EnvInterfaceBase::on_error, this, std::placeholders::_1));
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m_node->register_on_shutdown(std::bind(&EnvInterfaceBase::on_shutdown, this, std::placeholders::_1));
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return CallbackReturn::SUCCESS;
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}
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const rclcpp_lifecycle::State& EnvInterfaceBase::configure()
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{
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return getNode()->configure();
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}
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std::shared_ptr<rclcpp_lifecycle::LifecycleNode> EnvInterfaceBase::getNode()
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{
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if (!m_node.get())
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{
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throw std::runtime_error("Lifecycle node hasn't been initialized yet");
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}
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return m_node;
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}
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const rclcpp_lifecycle::State& EnvInterfaceBase::getState() const
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{
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return m_node->get_current_state();
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}
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} // namespace env_interface
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