chore: rebase

src/g2_2025_imu_reader_pkg/CMakeLists.txt

@@ -22,6 +22,8 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(nlohmann_json REQUIRED)
 
 add_executable(g2_2025_imu_database_writer_node
     src/g2_2025_imu_database_writer_node/Main.cpp
@@ -29,19 +31,45 @@ add_executable(g2_2025_imu_database_writer_node
     src/config/ConfigManager.cpp
     src/g2_2025_imu_database_writer_node/nodes/IMUDatabaseWriter.cpp
 )
+
 target_include_directories(g2_2025_imu_database_writer_node PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/src
     ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_database_writer_node
 )
 ament_target_dependencies(g2_2025_imu_database_writer_node rclcpp sensor_msgs)
 target_link_libraries(g2_2025_imu_database_writer_node pqxx pq tomlplusplus::tomlplusplus)
+ament_target_dependencies(g2_2025_imu_database_writer_node rclcpp sensor_msgs)
+target_link_libraries(g2_2025_imu_database_writer_node pqxx pq tomlplusplus::tomlplusplus)
+
+
+add_executable(g2_2025_lifecycle_node
+    src/g2_2025_lifecycle_node/main.cpp
+    src/g2_2025_lifecycle_node/nodes/HardwareInterface.cpp
+    src/g2_2025_lifecycle_node/nodes/LifecycleManager.cpp
+    src/config/serialib.cpp
+)
+
+target_include_directories(g2_2025_lifecycle_node PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_lifecycle_node
+)
+ament_target_dependencies(g2_2025_lifecycle_node rclcpp rclcpp_lifecycle std_msgs sensor_msgs)
+
+target_link_libraries(g2_2025_lifecycle_node
+  paho-mqttpp3
+  paho-mqtt3a
+  nlohmann_json::nlohmann_json
+)
 
 install(
     TARGETS
         g2_2025_imu_database_writer_node
+        g2_2025_lifecycle_node
     DESTINATION lib/${PROJECT_NAME}
 )
 
+set_target_properties(g2_2025_lifecycle_node PROPERTIES INSTALL_RPATH "/usr/local/lib")
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 
@@ -95,6 +123,30 @@ if(BUILD_TESTING)
     pqxx pq tomlplusplus::tomlplusplus
   )
 
+  ament_add_gtest(${PROJECT_NAME}_test_lifecycle_manager
+    test/LifecycleManager.test.cpp
+    src/g2_2025_lifecycle_node/nodes/lifecycle_manager.cpp
+    src/g2_2025_lifecycle_node/nodes/hardware_interface.cpp
+    src/config/serialib.cpp
+  )
+  target_include_directories(${PROJECT_NAME}_test_lifecycle_manager PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_lifecycle_node
+  )
+  ament_target_dependencies(${PROJECT_NAME}_test_lifecycle_manager
+    rclcpp
+    rclcpp_lifecycle
+    std_msgs
+    sensor_msgs
+  )
+  target_link_libraries(${PROJECT_NAME}_test_lifecycle_manager
+    paho-mqttpp3
+    paho-mqtt3a
+    nlohmann_json::nlohmann_json
+  )
+  set_target_properties(${PROJECT_NAME}_test_lifecycle_manager PROPERTIES INSTALL_RPATH "/usr/local/lib")
+
+
   # Add Python integration tests
   #   find_package(ament_cmake_pytest REQUIRED)
   #   ament_add_pytest_test(${PROJECT_NAME}_integration_test test/test_integration_system.py

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/main.cpp

@@ -0,0 +1,23 @@
+/* main.cpp
+ * Entry point for lifecycle node
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [23-09-2025] Wessel T: Simplified main.cpp to entry point only
+ */
+
+#include "rclcpp/rclcpp.hpp"
+#include "nodes/hardware_interface.hpp"
+#include "nodes/lifecycle_manager.hpp"
+
+
+int main(int argc, char *argv[]) {
+    rclcpp::init(argc, argv);
+
+    auto node = std::make_shared<assignments::two::g2_2025_lifecycle_node::LifecycleManager>();
+
+    rclcpp::spin(node->get_node_base_interface());
+    rclcpp::shutdown();
+
+    return 0;
+}

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/hardware_interface.cpp

@@ -0,0 +1,14 @@
+#include "hardware_interface.hpp"
+
+namespace assignments::two::g2_2025_lifecycle_node {
+
+HardwareInterface::HardwareInterface() : Node("hardware_interface") {
+    RCLCPP_INFO(this->get_logger(), "HardwareInterface node has been created");
+
+}
+
+void HardwareInterface::some_hardware_method() {
+    RCLCPP_INFO(this->get_logger(), "Interacting with hardware...");
+}
+
+}  // namespace assignments::two::g2_2025_lifecycle_node

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/hardware_interface.hpp

@@ -0,0 +1,31 @@
+/* nodes/hardware_interface.hpp
+ * Hardware interface implementation for the IMU reader system.
+ *
+ * Manages the serial communication with the IMU hardware, including initialization,
+ * data acquisition, and shutdown procedures.
+ *
+ * Changelog:
+ * [28-10-2025] M.khalaf: Implemented template.
+ */
+#pragma once
+
+#include <memory>
+#include <string>
+#include <random>
+#include <vector>
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+namespace assignments::two::g2_2025_lifecycle_node {
+
+class HardwareInterface : public rclcpp::Node {
+
+public:
+    HardwareInterface();
+private:
+    void some_hardware_method();
+
+};
+}  // namespace assignments::two::g2_2025_lifecycle_node

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/lifecycle_manager.cpp

@@ -0,0 +1,28 @@
+#include "lifecycle_manager.hpp"
+
+
+namespace assignments::two::g2_2025_lifecycle_node {
+
+LifecycleManager::LifecycleManager() : rclcpp_lifecycle::LifecycleNode("lifecycle_manager") {
+
+
+    RCLCPP_INFO(this->get_logger(), "LifecycleManager node is ready");
+    imu_publisher = this->create_publisher<std_msgs::msg::String>("imu_data", 10);
+    RCLCPP_INFO(this->get_logger(), "IMU Publisher has been created");
+
+
+}
+
+void LifecycleManager::publish_imu_data(const std::string & data) {
+    auto message = std_msgs::msg::String();
+    message.data = data;
+    imu_publisher->publish(message);
+    RCLCPP_INFO(this->get_logger(), "Published IMU data: %s", data.c_str());
+}
+
+void LifecycleManager::Unconfigured() {
+    RCLCPP_INFO(this->get_logger(), "Managing lifecycle...");
+
+}
+
+}  // namespace assignments::two::g2_2025_lifecycle_node

src/g2_2025_imu_reader_pkg/src/g2_2025_lifecycle_node/nodes/lifecycle_manager.hpp

@@ -0,0 +1,33 @@
+/* nodes/lifecycle_manager.hpp
+ * Lifecycle node implementation for managing the lifecycle of the IMU reader system.
+ *
+ * Manages the different states of the lifecycle node, including configuration,
+ * and hardware interface management.
+ *
+ * Changelog:
+ * [28-10-2025] M.khalaf: Implemented template.
+ */
+#pragma once
+
+#include <memory>
+#include <string>
+#include <random>
+#include <vector>
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "std_msgs/msg/string.hpp"
+
+
+namespace assignments::two::g2_2025_lifecycle_node {
+class LifecycleManager : public rclcpp_lifecycle::LifecycleNode {
+public:
+    LifecycleManager();
+private:
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr imu_publisher;
+    void publish_imu_data(const std::string & data);
+    void Unconfigured();
+
+};
+}  // namespace assignments::two::g2_2025_lifecycle_node