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
{
template <typename ServiceType>
class CbServiceCall : public smacc2::SmaccAsyncClientBehavior
{
public:
CbServiceCall(const char * serviceName) : serviceName_(serviceName) {}
CbServiceCall(const char * serviceName, std::shared_ptr<typename ServiceType::Request>)
: serviceName_(serviceName)
{
}
void onEntry() override
{
RCLCPP_INFO_STREAM(
getLogger(), "[" << this->getName() << "] creating service client: " << serviceName_);
client_ = getNode()->create_client<ServiceType>(serviceName_);
result_ = client_->async_send_request(request_).get();
//, std::bind(&CbServiceCall<ServiceType>::onServiceResponse, this, std::placeholders::_1));
}
typename std::shared_ptr<typename ServiceType::Response> result_;
protected:
//rclcpp::NodeHandle nh_;
std::shared_ptr<rclcpp::Client<ServiceType>> client_;
std::string serviceName_;
std::shared_ptr<typename ServiceType::Request> request_;
void onServiceResponse(typename rclcpp::Client<ServiceType>::SharedFuture result)
{
result_ = result;
}
};
} // namespace client_behaviors
} // namespace smacc2