Program Listing for File execution_logger.hpp
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// 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__EXECUTION_LOGGER_HPP_
#define PLANSYS2_TESTS__EXECUTION_LOGGER_HPP_
#include <list>
#include <memory>
#include <string>
#include "plansys2_msgs/msg/action_execution_info.hpp"
#include "plansys2_msgs/msg/action_execution.hpp"
#include "rclcpp/rclcpp.hpp"
namespace plansys2_tests
{
class ExecutionLogger : public rclcpp::Node
{
public:
using Ptr = std::shared_ptr<ExecutionLogger>;
static Ptr make_shared()
{
return std::make_shared<ExecutionLogger>();
}
ExecutionLogger();
const std::list<plansys2_msgs::msg::ActionExecution> & get_action_execution_log()
{
return action_execution_log_;
}
const std::list<plansys2_msgs::msg::ActionExecutionInfo> & get_action_execution_info_log()
{
return action_execution_info_log_;
}
bool finished_before(const std::string & op1, const std::string & op2);
bool started_before(const std::string & op1, const std::string & op2);
bool before(const std::string & op1, const std::string & op2);
bool sorted(const std::list<std::string> & actions);
bool is_executed(const std::string & action_full_name);
private:
rclcpp::Subscription<plansys2_msgs::msg::ActionExecution>::SharedPtr action_execution_sub_;
rclcpp::Subscription<plansys2_msgs::msg::ActionExecutionInfo>::SharedPtr
action_execution_info_sub_;
std::list<plansys2_msgs::msg::ActionExecution> action_execution_log_;
std::list<plansys2_msgs::msg::ActionExecutionInfo> action_execution_info_log_;
};
} // namespace plansys2_tests
#endif // PLANSYS2_TESTS__EXECUTION_LOGGER_HPP_