launch_runner.hpp

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#pragma once
 
#include <capabilities2_runner/notrigger_runner.hpp>
 
namespace capabilities2_runner
{
 
class LaunchRunner : public NoTriggerRunner
{
public:
  LaunchRunner() : NoTriggerRunner()
  {
  }
 
  virtual void start(rclcpp::Node::SharedPtr node, const runner_opts& run_config, const std::string& bond_id) override
  {
    init_base(node, run_config);
 
    package_name = run_config_.runner.substr(0, run_config_.runner.find("/"));
    launch_name = run_config_.runner.substr(run_config_.runner.find("/") + 1);
 
    // start launch process
    throw runner_exception("launch runner not implemented yet");
 
    // emit started event
    emit_started(bond_id, "", param_on_started());
  }
 
  virtual void stop(const std::string& bond_id, const std::string& instance_id = "") override
  {
    // if the node pointer is empty then throw an error
    // this means that the runner was not started and is being used out of order
 
    if (!node_)
      throw runner_exception("cannot stop runner that was not started");
 
    // stop the launch process
    throw runner_exception("launch runner not implemented yet");
 
    // emit stopped event
    emit_stopped(bond_id, instance_id, param_on_stopped());
  }
 
protected:
  std::string launch_name;
  std::string package_name;
};
 
}  // namespace capabilities2_runner