.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_bases_smacc_service_client.hpp:

Program Listing for File smacc_service_client.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_bases_smacc_service_client.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/client_bases/smacc_service_client.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // 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.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <optional>
   #include <smacc2/smacc_client.hpp>
   
   namespace smacc2
   {
   namespace client_bases
   {
   template <typename ServiceType>
   class SmaccServiceClient : public smacc2::ISmaccClient
   {
   public:
     std::optional<std::string> serviceName_;
   
     SmaccServiceClient(std::string serviceName) : serviceName_(serviceName) { initialized_ = false; }
   
     SmaccServiceClient() { initialized_ = false; }
   
     void onInitialize() override
     {
       if (!initialized_)
       {
         if (!serviceName_)
         {
           RCLCPP_ERROR(getLogger(), "service client with no service name set. Skipping.");
         }
         else
         {
           RCLCPP_INFO_STREAM(
             getLogger(), "[" << this->getName() << "] Client Service: " << *serviceName_);
           this->initialized_ = true;
           client_ = getNode()->create_client<ServiceType>(*serviceName_);
         }
       }
     }
   
     std::shared_ptr<typename ServiceType::Response> call(
       std::shared_ptr<typename ServiceType::Request> & request)
     {
       auto result = client_->async_send_request(request);
       //rclcpp::spin_until_future_complete(getNode(), result);
       return result.get();
     }
   
   protected:
     //rclcpp::NodeHandle nh_;
     std::shared_ptr<rclcpp::Client<ServiceType>> client_;
     bool initialized_;
   };
   }  // namespace client_bases
   }  // namespace smacc2