StatesNode.hpp

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//  Copyright 2026 Juan S. Cely G.
 
//  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
 
//      https://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 ROBOLIGO_STATES__STATESNODE_HPP_
#define ROBOLIGO_STATES__STATESNODE_HPP_
 
#include "pluginlib/class_loader.hpp"
 
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "roboligo_common/classification/ClassificationBase.hpp"
#include "roboligo_common/types/RobotState.hpp"
 
namespace roboligo
{
    class StatesNode : public rclcpp_lifecycle::LifecycleNode
    {
    public:
 
        RCLCPP_SMART_PTR_DEFINITIONS(StatesNode)
        using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

        explicit StatesNode(
            const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

        ~StatesNode();

        CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);

        CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);

        CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state);

        CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state);

        CallbackReturnT on_shutdown(const rclcpp_lifecycle::State & state);

        CallbackReturnT on_error(const rclcpp_lifecycle::State & state);

        bool init(std::shared_ptr<RobotState> robot_state);

        bool cycle(std::shared_ptr<RobotState> robot_state);

        void reset_classification(void);
 
    private:
 
        std::shared_ptr<ClassificationBase> classification_ {nullptr}; 
 
        const std::shared_ptr<const RobotState> robot_state_; 
 
        std::unique_ptr<pluginlib::ClassLoader<roboligo::ClassificationBase>> classification_loader_; 
    };
 
}  // namespace roboligo
 
#endif  // ROBOLIGO_STATES__STATESNODE_HPP_