#include <smacc_service_client.hpp>

Inheritance diagram for smacc2::client_bases::SmaccServiceClient< ServiceType >:

Collaboration diagram for smacc2::client_bases::SmaccServiceClient< ServiceType >:

Public Member Functions
	SmaccServiceClient (std::string serviceName)

	SmaccServiceClient ()

void	onInitialize () override

std::shared_ptr< typename ServiceType::Response >	call (std::shared_ptr< typename ServiceType::Request > &request)

Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	onInitialize ()

virtual std::string	getName () const

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

template<typename TComponent >
TComponent *	getComponent (int index)

virtual smacc2::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

Public Attributes
std::optional< std::string >	serviceName_

Protected Attributes
std::shared_ptr< rclcpp::Client< ServiceType > >	client_

bool	initialized_

Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

Detailed Description

template<typename ServiceType>
class smacc2::client_bases::SmaccServiceClient< ServiceType >

Definition at line 31 of file smacc_service_client.hpp.

Constructor & Destructor Documentation

◆ SmaccServiceClient() [1/2]

template<typename ServiceType >

smacc2::client_bases::SmaccServiceClient< ServiceType >::SmaccServiceClient ( std::string serviceName )

inline

Definition at line 36 of file smacc_service_client.hpp.

36: serviceName_(serviceName) { initialized_ = false; }

smacc2::client_bases::SmaccServiceClient::initialized_

bool initialized_

Definition: smacc_service_client.hpp:69

smacc2::client_bases::SmaccServiceClient::serviceName_

std::optional< std::string > serviceName_

Definition: smacc_service_client.hpp:34

References smacc2::client_bases::SmaccServiceClient< ServiceType >::initialized_.

◆ SmaccServiceClient() [2/2]

template<typename ServiceType >

smacc2::client_bases::SmaccServiceClient< ServiceType >::SmaccServiceClient ( )

inline

Definition at line 38 of file smacc_service_client.hpp.

38{ initialized_ = false; }

References smacc2::client_bases::SmaccServiceClient< ServiceType >::initialized_.

Member Function Documentation

◆ call()

template<typename ServiceType >

std::shared_ptr< typename ServiceType::Response > smacc2::client_bases::SmaccServiceClient< ServiceType >::call ( std::shared_ptr< typename ServiceType::Request > & request )

inline

Definition at line 58 of file smacc_service_client.hpp.

  {
    auto result = client_->async_send_request(request);
    //rclcpp::spin_until_future_complete(getNode(), result);
    return result.get();
  }

References smacc2::client_bases::SmaccServiceClient< ServiceType >::client_.

◆ onInitialize()

template<typename ServiceType >

void smacc2::client_bases::SmaccServiceClient< ServiceType >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 40 of file smacc_service_client.hpp.

  {
    if (!initialized_)
    {
      if (!serviceName_)
      {
        RCLCPP_ERROR(getLogger(), "service client with no service name set. Skipping.");
      }
      else
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << this->getName() << "] Client Service: " << *serviceName_);
        this->initialized_ = true;
        client_ = getNode()->create_client<ServiceType>(*serviceName_);
      }
    }
  }