.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_executor_include_plansys2_executor_ExecutorClient.hpp:

Program Listing for File ExecutorClient.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_executor_include_plansys2_executor_ExecutorClient.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_executor/include/plansys2_executor/ExecutorClient.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_EXECUTOR__EXECUTORCLIENT_HPP_
   #define PLANSYS2_EXECUTOR__EXECUTORCLIENT_HPP_
   
   #include <optional>
   #include <string>
   #include <memory>
   #include <vector>
   
   #include "plansys2_msgs/action/execute_plan.hpp"
   #include "plansys2_msgs/srv/get_ordered_sub_goals.hpp"
   #include "plansys2_msgs/srv/get_plan.hpp"
   #include "plansys2_msgs/msg/plan.hpp"
   #include "plansys2_msgs/msg/tree.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_action/rclcpp_action.hpp"
   
   namespace plansys2
   {
   
   class ExecutorClient
   {
   public:
     using ExecutePlan = plansys2_msgs::action::ExecutePlan;
     using GoalHandleExecutePlan = rclcpp_action::ClientGoalHandle<ExecutePlan>;
   
     ExecutorClient();
     explicit ExecutorClient(const std::string & node_name);
   
     bool start_plan_execution(const plansys2_msgs::msg::Plan & plan);
     bool execute_and_check_plan();
     void cancel_plan_execution();
     std::vector<plansys2_msgs::msg::Tree> getOrderedSubGoals();
     std::optional<plansys2_msgs::msg::Plan> getPlan();
   
     ExecutePlan::Feedback getFeedBack() {return feedback_;}
     std::optional<ExecutePlan::Result> getResult();
   
   private:
     rclcpp::Node::SharedPtr node_;
   
     rclcpp_action::Client<ExecutePlan>::SharedPtr action_client_;
     rclcpp::Client<plansys2_msgs::srv::GetOrderedSubGoals>::SharedPtr
       get_ordered_sub_goals_client_;
     rclcpp::Client<plansys2_msgs::srv::GetPlan>::SharedPtr get_plan_client_;
   
     ExecutePlan::Feedback feedback_;
     rclcpp_action::ClientGoalHandle<ExecutePlan>::SharedPtr goal_handle_;
     rclcpp_action::ClientGoalHandle<ExecutePlan>::WrappedResult result_;
   
     bool goal_result_available_{false};
   
     bool executing_plan_{false};
   
     void result_callback(const GoalHandleExecutePlan::WrappedResult & result);
     void feedback_callback(
       GoalHandleExecutePlan::SharedPtr goal_handle,
       const std::shared_ptr<const ExecutePlan::Feedback> feedback);
   
     bool on_new_goal_received(const plansys2_msgs::msg::Plan & plan);
     bool should_cancel_goal();
     void createActionClient();
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_EXECUTOR__EXECUTORCLIENT_HPP_