.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_terminal_include_plansys2_terminal_Terminal.hpp:

Program Listing for File Terminal.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_terminal_include_plansys2_terminal_Terminal.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_terminal/include/plansys2_terminal/Terminal.hpp``)

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

.. code-block:: cpp

   // Copyright 2020 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_TERMINAL__TERMINAL_HPP_
   #define PLANSYS2_TERMINAL__TERMINAL_HPP_
   
   #include <vector>
   #include <string>
   #include <memory>
   #include <sstream>
   
   #include "rclcpp/rclcpp.hpp"
   
   #include "plansys2_domain_expert/DomainExpertClient.hpp"
   #include "plansys2_problem_expert/ProblemExpertClient.hpp"
   #include "plansys2_planner/PlannerClient.hpp"
   #include "plansys2_executor/ExecutorClient.hpp"
   #include "plansys2_executor/ActionExecutor.hpp"
   
   namespace plansys2_terminal
   {
   
   std::vector<std::string> tokenize(const std::string & text);
   void pop_front(std::vector<std::string> & tokens);
   char * completion_generator(const char * text, int state);
   char ** completer(const char * text, int start, int end);
   
   std::optional<plansys2_msgs::msg::Plan>
   parse_plan(const std::string planfile);
   
   class Terminal : public rclcpp::Node
   {
   public:
     Terminal();
   
     virtual void run_console();
   
   protected:
     virtual void init();
   
     virtual void add_problem();
   
     virtual void clean_command(std::string & command);
   
     virtual void process_get_model_predicate(
       std::vector<std::string> & command,
       std::ostringstream & os);
     virtual void process_get_model_function(
       std::vector<std::string> & command,
       std::ostringstream & os);
     virtual void process_get_model_action(
       std::vector<std::string> & command,
       std::ostringstream & os);
     virtual void process_get_model(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_get_problem(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_get(std::vector<std::string> & command, std::ostringstream & os);
   
     virtual void process_set_instance(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_set_predicate(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_set_function(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_set_goal(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_set(std::vector<std::string> & command, std::ostringstream & os);
   
     virtual void process_remove_instance(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_remove_predicate(
       std::vector<std::string> & command,
       std::ostringstream & os);
     virtual void process_remove_function(
       std::vector<std::string> & command,
       std::ostringstream & os);
     virtual void process_remove(std::vector<std::string> & command, std::ostringstream & os);
   
     virtual void execute_plan(const plansys2_msgs::msg::Plan & plan);
     virtual void execute_plan(int items = -1);
     virtual void execute_action(std::vector<std::string> & command);
     virtual void process_run(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_check(std::vector<std::string> & command, std::ostringstream & os);
     virtual void process_check_actors(std::vector<std::string> & command, std::ostringstream & os);
   
     // Returns false if the processed command is violating some
     // restriction, e.g. there are nested source commands
     virtual bool process_command(
       std::string & command, std::ostringstream & os,
       bool inside_source = false);
   
     virtual void process_source(std::vector<std::string> & command, std::ostringstream & os);
   
     virtual void process_help(std::vector<std::string> & command, std::ostringstream & os);
   
   private:
     std::shared_ptr<plansys2::DomainExpertClient> domain_client_;
     std::shared_ptr<plansys2::ProblemExpertClient> problem_client_;
     std::shared_ptr<plansys2::PlannerClient> planner_client_;
     std::shared_ptr<plansys2::ExecutorClient> executor_client_;
   
     std::string problem_file_name_;
   };
   
   }  // namespace plansys2_terminal
   
   #endif  // PLANSYS2_TERMINAL__TERMINAL_HPP_