Program Listing for File executive_plugin.hpp

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// Copyright (c) 2024-2026 Carologistics
// SPDX-License-Identifier: Apache-2.0
//
// 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 CX_EXECUTIVE_PLUGIN__EXECUTIVE_PLUGIN_HPP_
#define CX_EXECUTIVE_PLUGIN__EXECUTIVE_PLUGIN_HPP_

#include <memory>
#include <string>
#include <vector>

#include "cx_msgs/srv/clips_command.hpp"
#include "cx_plugin/clips_plugin.hpp"
#include "std_msgs/msg/int64.hpp"
#include "std_srvs/srv/trigger.hpp"

namespace cx
{

class ExecutivePlugin : public ClipsPlugin
{
public:
  ExecutivePlugin();
  ~ExecutivePlugin();

  void initialize() override;
  void finalize() override;

  bool clips_env_init(std::shared_ptr<clips::Environment> & clips) override;
  bool clips_env_destroyed(std::shared_ptr<clips::Environment> & clips) override;

  std::shared_ptr<rclcpp_lifecycle::LifecycleNode> get_node();

private:
  struct ManagedEnv
  {
    std::shared_ptr<clips::Environment> env;
    std::vector<std::string> focus_stack;
    int64_t rule_limit;
  };

  void setup_ros_interfaces();
  void run_tick();
  cx_msgs::srv::ClipsCommand::Response handle_clips_command(
    bool use_build, const cx_msgs::srv::ClipsCommand::Request::SharedPtr request);
  cx_msgs::srv::ClipsCommand::Response build_on_env(
    std::shared_ptr<clips::Environment> env, const std::string & command);
  cx_msgs::srv::ClipsCommand::Response eval_on_env(
    std::shared_ptr<clips::Environment> env, const std::string & command);

  int refresh_rate_;
  bool assert_time_;
  bool publish_on_refresh_;

  std::string plugin_path_;

  rclcpp::TimerBase::SharedPtr agenda_refresh_timer_;

  rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Int64>::SharedPtr clips_agenda_refresh_pub_;

  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr pause_service_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resume_service_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr tick_once_service_;
  rclcpp::Service<cx_msgs::srv::ClipsCommand>::SharedPtr eval_service_;
  rclcpp::Service<cx_msgs::srv::ClipsCommand>::SharedPtr build_service_;
  bool paused_ = false;

  std::chrono::nanoseconds publish_rate_;

  std::unique_ptr<rclcpp::Logger> logger_;

  std::vector<ManagedEnv> managed_envs_;
  std::mutex envs_mutex_;
};
}  // namespace cx

#endif  // CX_EXECUTIVE_PLUGIN__EXECUTIVE_PLUGIN_HPP_