add params to getDerivedPredicate

PlanSys2 · Aug 29, 2024 · bf175c6 · bf175c6
1 parent 4145011
commit bf175c6
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Showing 5 changed files with 12 additions and 6 deletions.
diff --git a/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpert.hpp b/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpert.hpp
@@ -108,7 +108,9 @@ class DomainExpert : public DomainExpertInterface
    * \return A Derived object containing the predicate name, its parameters (name and type), and preconditions.
    *    If the predicate does not exist, the value returned has not value.
    */
-  std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(const std::string & predicate);
+  std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(
+    const std::string & predicate,
+    const std::vector<std::string> & params = {});
 
   /// Get the regular actions existing in the domain.
   /**

diff --git a/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertClient.hpp b/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertClient.hpp
@@ -115,7 +115,9 @@ class DomainExpertClient : public DomainExpertInterface
    * \return A Derived object containing the predicate name, its parameters (name and type), and preconditions.
    *    If the predicate does not exist, the value returned has not value.
    */
-  std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(const std::string & predicate);
+  std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(
+    const std::string & predicate,
+    const std::vector<std::string> & params = {});
 
   /// Get the regular actions existing in the domain.
   /**

diff --git a/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertInterface.hpp b/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertInterface.hpp
@@ -99,7 +99,9 @@ class DomainExpertInterface
    * \return A Derived object containing the predicate name, its parameters (name and type), and preconditions.
    *    If the predicate does not exist, the value returned has not value.
    */
-  virtual std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(const std::string & predicate) = 0;
+  virtual std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(
+    const std::string & predicate,
+    const std::vector<std::string> & params = {}) = 0;
 
   /// Get the regular actions existing in the domain.
   /**

diff --git a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp b/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp
@@ -179,7 +179,7 @@ DomainExpert::getDerivedPredicates(){
 }
 
 std::vector<plansys2_msgs::msg::Derived>
-DomainExpert::getDerivedPredicate(const std::string & predicate){
+DomainExpert::getDerivedPredicate(const std::string & predicate, const std::vector<std::string> & params){
   std::vector<plansys2_msgs::msg::Derived> ret;
 
   std::string predicate_search = predicate;
@@ -206,7 +206,7 @@ DomainExpert::getDerivedPredicate(const std::string & predicate){
 
       // Preconditions
       if (domain_->derived[i]->cond) {
-        domain_->derived[i]->cond->getTree(derived.preconditions, *domain_);
+        domain_->derived[i]->cond->getTree(derived.preconditions, *domain_, params);
       }
 
       ret.push_back(derived);

diff --git a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpertClient.cpp b/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpertClient.cpp
@@ -334,7 +334,7 @@ DomainExpertClient::getDerivedPredicates()
 }
 
 std::vector<plansys2_msgs::msg::Derived>
-DomainExpertClient::getDerivedPredicate(const std::string & predicate)
+DomainExpertClient::getDerivedPredicate(const std::string & predicate, const std::vector<std::string> & params)
 {
   while (!get_derived_predicate_details_client_->wait_for_service(std::chrono::seconds(1))) {
     if (!rclcpp::ok()) {