.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_tests_include_plansys2_tests_test_action_node.hpp:

Program Listing for File test_action_node.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_tests_include_plansys2_tests_test_action_node.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_tests/include/plansys2_tests/test_action_node.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 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_TESTS__TEST_ACTION_NODE_HPP_
   #define PLANSYS2_TESTS__TEST_ACTION_NODE_HPP_
   
   #include <memory>
   #include <string>
   
   #include "plansys2_executor/ActionExecutorClient.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   
   
   namespace plansys2_tests
   {
   
   using namespace std::chrono_literals;  // NOLINT (build/namespaces)
   
   class TestAction : public plansys2::ActionExecutorClient
   {
   public:
     using Ptr = std::shared_ptr<TestAction>;
     static Ptr make_shared(
       const std::string & action,
       const std::chrono::seconds & rate = 1s, float increment = 0.4)
     {
       auto ret = std::make_shared<TestAction>(action, rate, increment);
       ret->set_parameter(rclcpp::Parameter("action_name", action));
       ret->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
       return ret;
     }
   
     TestAction(
       const std::string & action_name,
       const std::chrono::seconds & rate = 1s,
       float increment = 0.4);
   
   private:
     void do_work();
   
     static int node_name_counter_;
     float progress_;
     float increment_;
   };
   
   }  // namespace plansys2_tests
   
   #endif  // PLANSYS2_TESTS__TEST_ACTION_NODE_HPP_