.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_domain_expert_include_plansys2_domain_expert_DomainExpertNode.hpp:

Program Listing for File DomainExpertNode.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_domain_expert_include_plansys2_domain_expert_DomainExpertNode.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertNode.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Intelligent Robotics Lab
   //
   // 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 PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTNODE_HPP_
   #define PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTNODE_HPP_
   
   #include <optional>
   #include <memory>
   
   #include "plansys2_domain_expert/DomainExpert.hpp"
   
   #include "std_msgs/msg/string.hpp"
   #include "lifecycle_msgs/msg/state.hpp"
   #include "lifecycle_msgs/msg/transition.hpp"
   #include "plansys2_msgs/srv/get_domain_name.hpp"
   #include "plansys2_msgs/srv/get_domain_types.hpp"
   #include "plansys2_msgs/srv/get_domain_actions.hpp"
   #include "plansys2_msgs/srv/get_domain_action_details.hpp"
   #include "plansys2_msgs/srv/get_domain_durative_action_details.hpp"
   #include "plansys2_msgs/srv/get_domain.hpp"
   #include "plansys2_msgs/srv/get_node_details.hpp"
   #include "plansys2_msgs/srv/get_states.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   
   namespace plansys2
   {
   
   class DomainExpertNode : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     DomainExpertNode();
   
     using CallbackReturnT =
       rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   
   
     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);
   
   
   
     void get_domain_name_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainName::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainName::Response> response);
   
   
     void get_domain_types_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainTypes::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainTypes::Response> response);
   
   
     void get_domain_actions_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Response> response);
   
   
     void get_domain_action_details_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainActionDetails::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainActionDetails::Response> response);
   
   
     void get_domain_durative_actions_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Response> response);
   
   
     void get_domain_durative_action_details_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainDurativeActionDetails::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomainDurativeActionDetails::Response> response);
   
   
     void get_domain_predicates_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetStates::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetStates::Response> response);
   
   
     void get_domain_predicate_details_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Response> response);
   
   
     void get_domain_functions_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetStates::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetStates::Response> response);
   
   
     void get_domain_function_details_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Response> response);
   
   
     void get_domain_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetDomain::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetDomain::Response> response);
   
   private:
     std::shared_ptr<DomainExpert> domain_expert_;
   
     rclcpp::Service<plansys2_msgs::srv::GetDomainName>::SharedPtr get_name_service_;
     rclcpp::Service<plansys2_msgs::srv::GetDomainTypes>::SharedPtr get_types_service_;
     rclcpp::Service<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_domain_actions_service_;
     rclcpp::Service<plansys2_msgs::srv::GetDomainActionDetails>::SharedPtr
       get_domain_action_details_service_;
     rclcpp::Service<plansys2_msgs::srv::GetDomainActions>::SharedPtr
       get_domain_durative_actions_service_;
     rclcpp::Service<plansys2_msgs::srv::GetDomainDurativeActionDetails>::SharedPtr
       get_domain_durative_action_details_service_;
     rclcpp::Service<plansys2_msgs::srv::GetStates>::SharedPtr
       get_domain_predicates_service_;
     rclcpp::Service<plansys2_msgs::srv::GetNodeDetails>::SharedPtr
       get_domain_predicate_details_service_;
     rclcpp::Service<plansys2_msgs::srv::GetStates>::SharedPtr
       get_domain_functions_service_;
     rclcpp::Service<plansys2_msgs::srv::GetNodeDetails>::SharedPtr
       get_domain_function_details_service_;
     rclcpp::Service<plansys2_msgs::srv::GetDomain>::SharedPtr get_domain_service_;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTNODE_HPP_