.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_tools_include_rqt_plansys2_performers_RQTPerformers.hpp:

Program Listing for File RQTPerformers.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_tools_include_rqt_plansys2_performers_RQTPerformers.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_tools/include/rqt_plansys2_performers/RQTPerformers.hpp``)

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

.. code-block:: cpp

   // Copyright 2022 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 RQT_PLANSYS2_PERFORMERS__RQTPERFORMERS_HPP_
   #define RQT_PLANSYS2_PERFORMERS__RQTPERFORMERS_HPP_
   
   #include <ui_rqt_plansys2_performers.h>
   #include <rqt_gui_cpp/plugin.h>
   
   
   #include <QAction>
   #include <QImage>
   #include <QList>
   #include <QString>
   #include <QSet>
   #include <QSize>
   #include <QWidget>
   
   #include <map>
   #include <memory>
   #include <string>
   
   #include "rqt_plansys2_performers/PerformersTree.hpp"
   #include "plansys2_problem_expert/ProblemExpertClient.hpp"
   
   #include "plansys2_msgs/msg/action_performer_status.hpp"
   #include "rclcpp/rclcpp.hpp"
   
   namespace rqt_plansys2_performers
   {
   
   
   class RQTPerformers
     : public rqt_gui_cpp::Plugin
   {
     Q_OBJECT
   
   public:
     RQTPerformers();
   
     virtual void initPlugin(qt_gui_cpp::PluginContext & context);
     virtual void shutdownPlugin();
     virtual void saveSettings(
       qt_gui_cpp::Settings & plugin_settings, qt_gui_cpp::Settings & instance_settings) const;
     virtual void restoreSettings(
       const qt_gui_cpp::Settings & plugin_settings, const qt_gui_cpp::Settings & instance_settings);
   
   protected slots:
     void spin_loop();
   
   protected:
     Ui::RqtPlansys2Performers ui_;
     QWidget * widget_;
   
   private:
     QTimer * controller_spin_timer_;
     PerformersTree * performers_tree_;
   
     std::map<std::string, plansys2_msgs::msg::ActionPerformerStatus::UniquePtr> performers_info_;
     rclcpp::Subscription<plansys2_msgs::msg::ActionPerformerStatus>::SharedPtr performers_sub_;
     bool need_update_;
   
     std::shared_ptr<plansys2::ProblemExpertClient> problem_;
   
     void performers_callback(plansys2_msgs::msg::ActionPerformerStatus::UniquePtr msg);
     std::optional<QTreeWidgetItem *> get_performer_line(const std::string & performer_name);
     void update_performer_row(
       QTreeWidgetItem * row, const plansys2_msgs::msg::ActionPerformerStatus & performer);
     void add_new_row(const plansys2_msgs::msg::ActionPerformerStatus & performer);
   };
   
   }  // namespace rqt_plansys2_performers
   
   #endif  // RQT_PLANSYS2_PERFORMERS__RQTPERFORMERS_HPP_