Program Listing for File cb_call_service.hpp
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// 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_INFO_STREAM(
getLogger(), "[" << this->getName() << "] creating ros service client: " << serviceName_);
client_ = getNode()->create_client<ServiceType>(serviceName_);
RCLCPP_INFO_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_INFO_STREAM(
getLogger(), "thread state: " << (int)status << " ok " << rclcpp::ok() << " shutdown "
<< this->isShutdownRequested() << "");
while (status != std::future_status::ready && rclcpp::ok() && !this->isShutdownRequested())
{
RCLCPP_INFO_STREAM_THROTTLE(
getLogger(), *getNode()->get_clock(), 1000,
"[" << this->getName() << "] waiting response ");
rclcpp::sleep_for(pollRate_);
status = resultFuture_.wait_for(0s);
}
if (status == std::future_status::ready)
{
RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] response received ");
result_ = resultFuture_.get();
onServiceResponse(result_);
this->postSuccessEvent();
}
else
{
RCLCPP_INFO_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_INFO_STREAM(getLogger(), "[" << this->getName() << "] response received ");
}
};
} // namespace client_behaviors
} // namespace smacc2