Program Listing for File cb_service3.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
*
******************************************************************************************************************/
#include <sm_dance_bot/clients/cl_service3/cl_service3.hpp>
#include <smacc2/smacc_client_behavior.hpp>
namespace sm_dance_bot
{
namespace cl_service3
{
enum class Service3Command
{
SERVICE3_ON,
SERVICE3_OFF
};
class CbService3 : public smacc2::SmaccClientBehavior
{
private:
ClService3 * serviceClient_;
Service3Command value_;
public:
CbService3(Service3Command value) { value_ = value; }
void onEntry() override
{
this->requiresClient(serviceClient_);
auto req = std::make_shared<std_srvs::srv::SetBool::Request>();
if (value_ == Service3Command::SERVICE3_ON)
req->data = true;
else
req->data = false;
serviceClient_->call(req);
}
};
} // namespace cl_service3
} // namespace sm_dance_bot