.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_clients_cl_service3_client_behaviors_cb_service3.hpp:

Program Listing for File cb_service3.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_clients_cl_service3_client_behaviors_cb_service3.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/clients/cl_service3/client_behaviors/cb_service3.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
    *
    ******************************************************************************************************************/
   
   #include <sm_dance_bot_warehouse/clients/cl_service3/cl_service3.hpp>
   #include <smacc2/smacc_client_behavior.hpp>
   
   namespace sm_dance_bot_warehouse
   {
   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_warehouse