Program Listing for File service_client.hpp
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// Copyright (c) 2018 Intel Corporation
//
// 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.
#ifndef NAV2_UTIL__SERVICE_CLIENT_HPP_
#define NAV2_UTIL__SERVICE_CLIENT_HPP_
#include <string>
#include "rclcpp/rclcpp.hpp"
namespace nav2_util
{
template<class ServiceT, typename NodeT = rclcpp::Node::SharedPtr>
class ServiceClient
{
public:
explicit ServiceClient(
const std::string & service_name,
const NodeT & provided_node)
: service_name_(service_name), node_(provided_node)
{
callback_group_ = node_->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive,
false);
callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
client_ = node_->template create_client<ServiceT>(
service_name,
rclcpp::SystemDefaultsQoS(),
callback_group_);
}
using RequestType = typename ServiceT::Request;
using ResponseType = typename ServiceT::Response;
typename ResponseType::SharedPtr invoke(
typename RequestType::SharedPtr & request,
const std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1))
{
while (!client_->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
throw std::runtime_error(
service_name_ + " service client: interrupted while waiting for service");
}
RCLCPP_INFO(
node_->get_logger(), "%s service client: waiting for service to appear...",
service_name_.c_str());
}
RCLCPP_DEBUG(
node_->get_logger(), "%s service client: send async request",
service_name_.c_str());
auto future_result = client_->async_send_request(request);
if (callback_group_executor_.spin_until_future_complete(future_result, timeout) !=
rclcpp::FutureReturnCode::SUCCESS)
{
// Pending request must be manually cleaned up if execution is interrupted or timed out
client_->remove_pending_request(future_result);
throw std::runtime_error(service_name_ + " service client: async_send_request failed");
}
return future_result.get();
}
bool invoke(
typename RequestType::SharedPtr & request,
typename ResponseType::SharedPtr & response)
{
while (!client_->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
throw std::runtime_error(
service_name_ + " service client: interrupted while waiting for service");
}
RCLCPP_INFO(
node_->get_logger(), "%s service client: waiting for service to appear...",
service_name_.c_str());
}
RCLCPP_DEBUG(
node_->get_logger(), "%s service client: send async request",
service_name_.c_str());
auto future_result = client_->async_send_request(request);
if (callback_group_executor_.spin_until_future_complete(future_result) !=
rclcpp::FutureReturnCode::SUCCESS)
{
// Pending request must be manually cleaned up if execution is interrupted or timed out
client_->remove_pending_request(future_result);
return false;
}
response = future_result.get();
return response.get();
}
bool wait_for_service(const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::max())
{
return client_->wait_for_service(timeout);
}
std::string getServiceName()
{
return service_name_;
}
protected:
std::string service_name_;
NodeT node_;
rclcpp::CallbackGroup::SharedPtr callback_group_;
rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
typename rclcpp::Client<ServiceT>::SharedPtr client_;
};
} // namespace nav2_util
#endif // NAV2_UTIL__SERVICE_CLIENT_HPP_