.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_executor_include_plansys2_executor_behavior_tree_check_atend_req_node.hpp:

Program Listing for File check_atend_req_node.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_executor_include_plansys2_executor_behavior_tree_check_atend_req_node.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_executor/include/plansys2_executor/behavior_tree/check_atend_req_node.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_EXECUTOR__BEHAVIOR_TREE__CHECK_ATEND_REQ_NODE_HPP_
   #define PLANSYS2_EXECUTOR__BEHAVIOR_TREE__CHECK_ATEND_REQ_NODE_HPP_
   
   #include <map>
   #include <string>
   #include <memory>
   
   #include "behaviortree_cpp_v3/action_node.h"
   
   #include "plansys2_problem_expert/ProblemExpertClient.hpp"
   #include "plansys2_executor/ActionExecutor.hpp"
   #include "plansys2_problem_expert/Utils.hpp"
   
   #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
   
   namespace plansys2
   {
   
   class CheckAtEndReq : public BT::ActionNodeBase
   {
   public:
     CheckAtEndReq(
       const std::string & xml_tag_name,
       const BT::NodeConfiguration & conf);
   
     void halt() {}
     BT::NodeStatus tick() override;
   
     static BT::PortsList providedPorts()
     {
       return BT::PortsList(
         {
           BT::InputPort<std::string>("action", "Action whose at end reqs must stop"),
         });
     }
   
   private:
     std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map_;
     std::shared_ptr<plansys2::ProblemExpertClient> problem_client_;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_EXECUTOR__BEHAVIOR_TREE__CHECK_ATEND_REQ_NODE_HPP_