.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_executor_include_plansys2_executor_ExecutorNode.hpp:

Program Listing for File ExecutorNode.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_executor_include_plansys2_executor_ExecutorNode.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_executor/include/plansys2_executor/ExecutorNode.hpp``)

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

.. code-block:: cpp

   // Copyright 2019 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__EXECUTORNODE_HPP_
   #define PLANSYS2_EXECUTOR__EXECUTORNODE_HPP_
   
   #include <memory>
   #include <vector>
   #include <string>
   #include <map>
   
   #include "plansys2_domain_expert/DomainExpertClient.hpp"
   #include "plansys2_problem_expert/ProblemExpertClient.hpp"
   #include "plansys2_planner/PlannerClient.hpp"
   #include "plansys2_executor/ActionExecutor.hpp"
   
   #include "lifecycle_msgs/msg/state.hpp"
   #include "lifecycle_msgs/msg/transition.hpp"
   
   #include "plansys2_msgs/action/execute_plan.hpp"
   #include "plansys2_msgs/msg/action_execution_info.hpp"
   #include "plansys2_msgs/srv/get_ordered_sub_goals.hpp"
   #include "plansys2_msgs/msg/plan.hpp"
   #include "std_msgs/msg/string.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_action/rclcpp_action.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
   
   namespace plansys2
   {
   
   class ExecutorNode : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     using ExecutePlan = plansys2_msgs::action::ExecutePlan;
     using GoalHandleExecutePlan = rclcpp_action::ServerGoalHandle<ExecutePlan>;
     using CallbackReturnT =
       rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   
     ExecutorNode();
   
     CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_shutdown(const rclcpp_lifecycle::State & state);
     CallbackReturnT on_error(const rclcpp_lifecycle::State & state);
   
     void get_ordered_sub_goals_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetOrderedSubGoals::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetOrderedSubGoals::Response> response);
   
     void get_plan_service_callback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<plansys2_msgs::srv::GetPlan::Request> request,
       const std::shared_ptr<plansys2_msgs::srv::GetPlan::Response> response);
   
   protected:
     rclcpp::Node::SharedPtr node_;
     rclcpp::Node::SharedPtr aux_node_;
   
     bool cancel_plan_requested_;
     std::optional<plansys2_msgs::msg::Plan> current_plan_;
     std::optional<std::vector<plansys2_msgs::msg::Tree>> ordered_sub_goals_;
   
     std::string action_bt_xml_;
   
     std::shared_ptr<plansys2::DomainExpertClient> domain_client_;
     std::shared_ptr<plansys2::ProblemExpertClient> problem_client_;
     std::shared_ptr<plansys2::PlannerClient> planner_client_;
   
     rclcpp_lifecycle::LifecyclePublisher<plansys2_msgs::msg::ActionExecutionInfo>::SharedPtr
       execution_info_pub_;
     rclcpp_lifecycle::LifecyclePublisher<plansys2_msgs::msg::Plan>::SharedPtr executing_plan_pub_;
   
     rclcpp_action::Server<ExecutePlan>::SharedPtr execute_plan_action_server_;
     rclcpp::Service<plansys2_msgs::srv::GetOrderedSubGoals>::SharedPtr
       get_ordered_sub_goals_service_;
     rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::String>::SharedPtr dotgraph_pub_;
   
     std::optional<std::vector<plansys2_msgs::msg::Tree>> getOrderedSubGoals();
   
     rclcpp::Service<plansys2_msgs::srv::GetPlan>::SharedPtr get_plan_service_;
   
     rclcpp_action::GoalResponse handle_goal(
       const rclcpp_action::GoalUUID & uuid,
       std::shared_ptr<const ExecutePlan::Goal> goal);
   
     rclcpp_action::CancelResponse handle_cancel(
       const std::shared_ptr<GoalHandleExecutePlan> goal_handle);
   
     void execute(const std::shared_ptr<GoalHandleExecutePlan> goal_handle);
   
     void handle_accepted(const std::shared_ptr<GoalHandleExecutePlan> goal_handle);
   
     std::vector<plansys2_msgs::msg::ActionExecutionInfo> get_feedback_info(
       std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map);
   
     void print_execution_info(
       std::shared_ptr<std::map<std::string, ActionExecutionInfo>> exec_info);
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_EXECUTOR__EXECUTORNODE_HPP_