Program Listing for File DomainExpertClient.hpp

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// 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__DOMAINEXPERTCLIENT_HPP_
#define PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTCLIENT_HPP_

#include <optional>
#include <string>
#include <vector>
#include <memory>

#include "plansys2_core/Types.hpp"
#include "plansys2_domain_expert/DomainExpertInterface.hpp"

#include "plansys2_msgs/msg/action.hpp"
#include "plansys2_msgs/msg/durative_action.hpp"
#include "plansys2_msgs/msg/node.hpp"

#include "plansys2_msgs/srv/get_domain.hpp"
#include "plansys2_msgs/srv/get_domain_name.hpp"
#include "plansys2_msgs/srv/get_domain_types.hpp"
#include "plansys2_msgs/srv/get_domain_constants.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_node_details.hpp"
#include "plansys2_msgs/srv/get_states.hpp"

#include "rclcpp/rclcpp.hpp"

namespace plansys2
{


class DomainExpertClient : public DomainExpertInterface
{
public:
  DomainExpertClient();


  std::string getName();


  std::vector<std::string> getTypes();


  std::vector<std::string> getConstants(const std::string & type);


  std::vector<plansys2::Predicate> getPredicates();


  std::optional<plansys2::Predicate> getPredicate(const std::string & predicate);


  std::vector<plansys2::Function> getFunctions();


  std::optional<plansys2::Function> getFunction(const std::string & function);


  std::vector<std::string> getActions();


  plansys2_msgs::msg::Action::SharedPtr getAction(
    const std::string & action,
    const std::vector<std::string> & params = {});


  std::vector<std::string> getDurativeActions();


  plansys2_msgs::msg::DurativeAction::SharedPtr getDurativeAction(
    const std::string & action,
    const std::vector<std::string> & params = {});


  std::string getDomain();

private:
  rclcpp::Node::SharedPtr node_;

  rclcpp::Client<plansys2_msgs::srv::GetDomain>::SharedPtr get_domain_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainName>::SharedPtr get_name_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainTypes>::SharedPtr get_types_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainConstants>::SharedPtr get_constants_client_;
  rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_predicates_client_;
  rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_functions_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_actions_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_durative_actions_client_;
  rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr get_predicate_details_client_;
  rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr get_function_details_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainActionDetails>::SharedPtr get_action_details_client_;
  rclcpp::Client<plansys2_msgs::srv::GetDomainDurativeActionDetails>::SharedPtr
    get_durative_action_details_client_;
};

}  // namespace plansys2

#endif  // PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTCLIENT_HPP_