.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_planner_include_plansys2_planner_PlannerNode.hpp:

Program Listing for File PlannerNode.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_planner_include_plansys2_planner_PlannerNode.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_planner/include/plansys2_planner/PlannerNode.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_PLANNER__PLANNERNODE_HPP_
   #define PLANSYS2_PLANNER__PLANNERNODE_HPP_
   
   #include <memory>
   #include <unordered_map>
   #include <string>
   #include <vector>
   
   #include "plansys2_domain_expert/DomainExpertClient.hpp"
   #include "plansys2_problem_expert/ProblemExpertClient.hpp"
   
   #include "plansys2_core/PlanSolverBase.hpp"
   
   #include "std_msgs/msg/empty.hpp"
   #include "lifecycle_msgs/msg/state.hpp"
   #include "lifecycle_msgs/msg/transition.hpp"
   #include "plansys2_msgs/srv/get_plan.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   
   #include "pluginlib/class_loader.hpp"
   #include "pluginlib/class_list_macros.hpp"
   
   namespace plansys2
   {
   
   class PlannerNode : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     PlannerNode();
   
     using CallbackReturnT =
       rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   
     using SolverMap = std::unordered_map<std::string, plansys2::PlanSolverBase::Ptr>;
   
     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_plan_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetPlan::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetPlan::Response> response);
   
   private:
     pluginlib::ClassLoader<plansys2::PlanSolverBase> lp_loader_;
     SolverMap solvers_;
     std::vector<std::string> default_ids_;
     std::vector<std::string> default_types_;
     std::vector<std::string> solver_ids_;
     std::vector<std::string> solver_types_;
   
     rclcpp::Service<plansys2_msgs::srv::GetPlan>::SharedPtr
       get_plan_service_;
   };
   
   template<typename NodeT>
   void declare_parameter_if_not_declared(
     NodeT node,
     const std::string & param_name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
     rcl_interfaces::msg::ParameterDescriptor())
   {
     if (!node->has_parameter(param_name)) {
       node->declare_parameter(param_name, default_value, parameter_descriptor);
     }
   }
   
   template<typename NodeT>
   std::string get_plugin_type_param(
     NodeT node,
     const std::string & plugin_name)
   {
     declare_parameter_if_not_declared(node, plugin_name + ".plugin", rclcpp::ParameterValue(""));
     std::string plugin_type;
     if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
       RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str());
       exit(-1);
     }
     return plugin_type;
   }
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_PLANNER__PLANNERNODE_HPP_