.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_tools_include_plansys2_logger_LoggerNode.hpp:

Program Listing for File LoggerNode.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_tools_include_plansys2_logger_LoggerNode.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_tools/include/plansys2_logger/LoggerNode.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 PLANSYS2_LOGGER__LOGGERNODE_HPP_
   #define PLANSYS2_LOGGER__LOGGERNODE_HPP_
   
   #include <memory>
   
   #include "plansys2_msgs/msg/knowledge.hpp"
   #include "plansys2_msgs/msg/action_execution_info.hpp"
   #include "plansys2_msgs/msg/action_execution.hpp"
   #include "plansys2_msgs/msg/action_performer_status.hpp"
   #include "plansys2_msgs/msg/plan.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   
   namespace plansys2_logger
   {
   
   class LoggerNode : public rclcpp::Node
   {
   public:
     LoggerNode();
   
   private:
     void knowledge_callback(plansys2_msgs::msg::Knowledge::SharedPtr msg);
     void action_execution_info_callback(plansys2_msgs::msg::ActionExecutionInfo::SharedPtr msg);
     void action_execution_callback(plansys2_msgs::msg::ActionExecution::SharedPtr msg);
     void action_performer_status_callback(plansys2_msgs::msg::ActionPerformerStatus::SharedPtr msg);
     void executing_plan_callback(plansys2_msgs::msg::Plan::SharedPtr msg);
   
     rclcpp::Subscription<plansys2_msgs::msg::Knowledge>::SharedPtr knowledge_sub_;
     rclcpp::Subscription<plansys2_msgs::msg::ActionExecutionInfo>::SharedPtr action_execution_info_;
     rclcpp::Subscription<plansys2_msgs::msg::ActionExecution>::SharedPtr action_execution_;
     rclcpp::Subscription<plansys2_msgs::msg::ActionPerformerStatus>::SharedPtr
       action_performer_status_;
     rclcpp::Subscription<plansys2_msgs::msg::Plan>::SharedPtr executing_plan_;
   };
   
   }  // namespace plansys2_logger
   
   #endif  // PLANSYS2_LOGGER__LOGGERNODE_HPP_