test_lifecycle_node.cpp

// Copyright 2020 Christophe Bedard
//
// 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.

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
{
public:
  explicit LifecycleNode(rclcpp::NodeOptions options)
  : rclcpp_lifecycle::LifecycleNode("test_lifecycle_node", options)
  {}

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_configure(const rclcpp_lifecycle::State &)
  {
    RCLCPP_INFO(get_logger(), "on_configure()");
    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
  }

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_deactivate(const rclcpp_lifecycle::State &)
  {
    RCLCPP_INFO(get_logger(), "on_deactivate()");
    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
  }

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_activate(const rclcpp_lifecycle::State &)
  {
    RCLCPP_INFO(get_logger(), "on_activate()");
    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
  }

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_cleanup(const rclcpp_lifecycle::State &)
  {
    RCLCPP_INFO(get_logger(), "on_cleanup()");
    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
  }

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_shutdown(const rclcpp_lifecycle::State &)
  {
    RCLCPP_INFO(get_logger(), "on_shutdown()");
    // TODO(christophebedard) find a way to destroy and kill the lifecycle node cleanly;
    // TRANSITION_DESTROY doesn't seem to work.
    // Force exit for now
    exit(0);
    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
  }
};

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  rclcpp::executors::SingleThreadedExecutor exec;
  auto lifecycle_node = std::make_shared<LifecycleNode>(rclcpp::NodeOptions());
  exec.add_node(lifecycle_node->get_node_base_interface());

  exec.spin();

  rclcpp::shutdown();

  return 0;
}