smacc2::client_behaviors::CbServiceCall< ServiceType > Class Template Reference

#include <cb_call_service.hpp>

Inheritance diagram for smacc2::client_behaviors::CbServiceCall< ServiceType >:

Collaboration diagram for smacc2::client_behaviors::CbServiceCall< ServiceType >:

Public Member Functions
	CbServiceCall (const char *serviceName)
	CbServiceCall (const char *serviceName, std::shared_ptr< typename ServiceType::Request >)
void	onEntry () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

Public Attributes
std::shared_ptr< typename ServiceType::Response >	result_

Protected Member Functions
void	onServiceResponse (typename rclcpp::Client< ServiceType >::SharedFuture result)
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()

Protected Attributes
std::shared_ptr< rclcpp::Client< ServiceType > >	client_
std::string	serviceName_
std::shared_ptr< typename ServiceType::Request >	request_

Detailed Description

template<typename ServiceType>
class smacc2::client_behaviors::CbServiceCall< ServiceType >

Definition at line 29 of file cb_call_service.hpp.

Constructor & Destructor Documentation

CbServiceCall() [1/2]

template<typename ServiceType >

smacc2::client_behaviors::CbServiceCall< ServiceType >::CbServiceCall ( const char *  serviceName )

inline

Definition at line 32 of file cb_call_service.hpp.

: serviceName_(serviceName) {}

CbServiceCall() [2/2]

template<typename ServiceType >

smacc2::client_behaviors::CbServiceCall< ServiceType >::CbServiceCall ( const char *  serviceName, std::shared_ptr< typename ServiceType::Request >    )

inline

Definition at line 34 of file cb_call_service.hpp.

  : serviceName_(serviceName)
  {
  }

Member Function Documentation

onEntry()

template<typename ServiceType >

void smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 39 of file cb_call_service.hpp.

  {
    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));
  }

References smacc2::client_behaviors::CbServiceCall< ServiceType >::client_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), smacc2::client_behaviors::CbServiceCall< ServiceType >::request_, smacc2::client_behaviors::CbServiceCall< ServiceType >::result_, and smacc2::client_behaviors::CbServiceCall< ServiceType >::serviceName_.

Here is the call graph for this function:

onServiceResponse()

template<typename ServiceType >

void smacc2::client_behaviors::CbServiceCall< ServiceType >::onServiceResponse ( typename rclcpp::Client< ServiceType >::SharedFuture  result )

inlineprotected

Definition at line 59 of file cb_call_service.hpp.

  {
    result_ = result;
  }

References smacc2::client_behaviors::CbServiceCall< ServiceType >::result_.

Member Data Documentation

client_

template<typename ServiceType >

std::shared_ptr<rclcpp::Client<ServiceType> > smacc2::client_behaviors::CbServiceCall< ServiceType >::client_

protected

Definition at line 55 of file cb_call_service.hpp.

Referenced by smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry().

request_

template<typename ServiceType >

std::shared_ptr<typename ServiceType::Request> smacc2::client_behaviors::CbServiceCall< ServiceType >::request_

protected

Definition at line 57 of file cb_call_service.hpp.

Referenced by smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry().

result_

template<typename ServiceType >

std::shared_ptr<typename ServiceType::Response> smacc2::client_behaviors::CbServiceCall< ServiceType >::result_

Definition at line 51 of file cb_call_service.hpp.

Referenced by smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), and smacc2::client_behaviors::CbServiceCall< ServiceType >::onServiceResponse().

serviceName_

template<typename ServiceType >

std::string smacc2::client_behaviors::CbServiceCall< ServiceType >::serviceName_

protected

Definition at line 56 of file cb_call_service.hpp.

Referenced by smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry().

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The documentation for this class was generated from the following file:

• smacc2/include/smacc2/client_behaviors/cb_call_service.hpp