system_controller_node.hpp

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/*
 * Copyright (C) 2021 LEIDOS.
 *
 * 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 SYSTEM_CONTROLLER__SYSTEM_CONTROLLER_NODE_HPP_
#define SYSTEM_CONTROLLER__SYSTEM_CONTROLLER_NODE_HPP_
 
#include <memory>
 
#include "carma_msgs/msg/system_alert.hpp"
#include "ros2_lifecycle_manager/ros2_lifecycle_manager.hpp"
#include "system_controller_config.hpp"
#include "rclcpp/rclcpp.hpp"
 
namespace system_controller
{
 
  class SystemControllerNode : public rclcpp::Node
  {
  public:
    SystemControllerNode() = delete;
 
    ~SystemControllerNode() = default;
 
    explicit SystemControllerNode(const rclcpp::NodeOptions &options, bool auto_init = true);
 
    void initialize();
 
    void set_config(SystemControllerConfig config);
 
  protected:
    void on_system_alert(const carma_msgs::msg::SystemAlert::UniquePtr msg);
 
    void startup_delay_callback();
 
    void on_error(const std::exception &e);
 
    void publish_system_alert(carma_msgs::msg::SystemAlert msg);
 
    const std::string system_alert_topic_{"/system_alert"};
 
    rclcpp::Subscription<carma_msgs::msg::SystemAlert>::SharedPtr system_alert_sub_;
 
    std::shared_ptr<rclcpp::Publisher<carma_msgs::msg::SystemAlert>> system_alert_pub_;
 
    ros2_lifecycle_manager::Ros2LifecycleManager lifecycle_mgr_;
 
    rclcpp::TimerBase::SharedPtr startup_timer_;
 
    SystemControllerConfig config_;
  };
 
} // namespace system_controller
 
#endif // SYSTEM_CONTROLLER__SYSTEM_CONTROLLER_NODE_HPP_