.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_behaviors_cb_call_service.hpp:

Program Listing for File cb_call_service.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_behaviors_cb_call_service.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/client_behaviors/cb_call_service.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 <smacc2/impl/smacc_asynchronous_client_behavior_impl.hpp>
   #include <smacc2/smacc_client_behavior.hpp>
   
   namespace smacc2
   {
   namespace client_behaviors
   {
   using namespace std::chrono_literals;
   template <typename ServiceType>
   class CbServiceCall : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     CbServiceCall(const char * serviceName) : serviceName_(serviceName)
     {
       request_ = std::make_shared<typename ServiceType::Request>();
       pollRate_ = 100ms;
     }
   
     CbServiceCall(
       const char * serviceName, std::shared_ptr<typename ServiceType::Request> request,
       std::chrono::milliseconds pollRate = 100ms)
     : serviceName_(serviceName), request_(request), result_(nullptr), pollRate_(pollRate)
     {
     }
   
     void onEntry() override
     {
       RCLCPP_DEBUG_STREAM(
         getLogger(), "[" << this->getName() << "] creating ros service client: " << serviceName_);
   
       client_ = getNode()->create_client<ServiceType>(serviceName_);
   
       RCLCPP_DEBUG_STREAM(
         getLogger(), "[" << this->getName() << "] making service request to " << serviceName_);
   
       resultFuture_ = client_->async_send_request(request_).future.share();
   
       std::future_status status = resultFuture_.wait_for(0s);
   
       RCLCPP_DEBUG_STREAM(
         getLogger(), "thread state: " << (int)status << " ok " << rclcpp::ok() << " shutdown "
                                       << this->isShutdownRequested() << "");
       while (status != std::future_status::ready && rclcpp::ok() && !this->isShutdownRequested())
       {
         RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] waiting response ");
         rclcpp::sleep_for(pollRate_);
         status = resultFuture_.wait_for(0s);
       }
   
       if (status == std::future_status::ready)
       {
         RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] response received ");
         result_ = resultFuture_.get();
         onServiceResponse(result_);
         this->postSuccessEvent();
       }
       else
       {
         RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] response not received ");
         this->postFailureEvent();
       }
     }
   
     std::shared_future<std::shared_ptr<typename ServiceType::Response>> resultFuture_;
   
     typename std::shared_ptr<typename ServiceType::Response> result_;
     std::chrono::milliseconds pollRate_;
   
   protected:
     //rclcpp::NodeHandle nh_;
     std::shared_ptr<rclcpp::Client<ServiceType>> client_;
     std::string serviceName_;
     std::shared_ptr<typename ServiceType::Request> request_;
   
     virtual void onServiceResponse(std::shared_ptr<typename ServiceType::Response> /*result*/)
     {
       RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] response received ");
     }
   };
   
   }  // namespace client_behaviors
   }  // namespace smacc2