#include <smacc_service_server_client.hpp>

Inheritance diagram for smacc2::client_bases::SmaccServiceServerClient< TService >:

Collaboration diagram for smacc2::client_bases::SmaccServiceServerClient< TService >:

Public Member Functions
	SmaccServiceServerClient ()

	SmaccServiceServerClient (std::string service_name)

virtual	~SmaccServiceServerClient ()

template<typename T >
boost::signals2::connection	onServiceRequestReceived (void(T::callback)(const std::shared_ptr< typename TService::Request >, std::shared_ptr< typename TService::Response >), T object)

void	onInitialize () override

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_

smacc2::SmaccSignal< void(const std::shared_ptr< typename TService::Request >, std::shared_ptr< typename TService::Response >)>	onServiceRequestReceived_

Private Types
using	TServiceRequest = typename TService::Request

using	TServiceResponse = typename TService::Response

Private Member Functions
void	serviceCallback (const std::shared_ptr< typename TService::Request > req, std::shared_ptr< typename TService::Response > res)

Private Attributes
rclcpp::Service< TService >::SharedPtr	server_

bool	initialized_

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 ()

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

Detailed Description

template<typename TService>
class smacc2::client_bases::SmaccServiceServerClient< TService >

Definition at line 32 of file smacc_service_server_client.hpp.

Member Typedef Documentation

◆ TServiceRequest

template<typename TService >

using smacc2::client_bases::SmaccServiceServerClient< TService >::TServiceRequest = typename TService::Request

private

Definition at line 34 of file smacc_service_server_client.hpp.

◆ TServiceResponse

template<typename TService >

using smacc2::client_bases::SmaccServiceServerClient< TService >::TServiceResponse = typename TService::Response

private

Definition at line 35 of file smacc_service_server_client.hpp.

Constructor & Destructor Documentation

◆ SmaccServiceServerClient() [1/2]

template<typename TService >

smacc2::client_bases::SmaccServiceServerClient< TService >::SmaccServiceServerClient ( )

inline

Definition at line 39 of file smacc_service_server_client.hpp.

39{ initialized_ = false; }

smacc2::client_bases::SmaccServiceServerClient::initialized_

bool initialized_

Definition: smacc_service_server_client.hpp:97

References smacc2::client_bases::SmaccServiceServerClient< TService >::initialized_.

◆ SmaccServiceServerClient() [2/2]

template<typename TService >

smacc2::client_bases::SmaccServiceServerClient< TService >::SmaccServiceServerClient ( std::string service_name )

inline

Definition at line 40 of file smacc_service_server_client.hpp.

  {
    serviceName_ = service_name;
    initialized_ = false;
  }

References smacc2::client_bases::SmaccServiceServerClient< TService >::initialized_, and smacc2::client_bases::SmaccServiceServerClient< TService >::serviceName_.

◆ ~SmaccServiceServerClient()

template<typename TService >

virtual smacc2::client_bases::SmaccServiceServerClient< TService >::~SmaccServiceServerClient ( )

inlinevirtual

Definition at line 46 of file smacc_service_server_client.hpp.

46{}

Member Function Documentation

◆ onInitialize()

template<typename TService >

void smacc2::client_bases::SmaccServiceServerClient< TService >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 64 of file smacc_service_server_client.hpp.

  {
    if (!initialized_)
    {
      if (!serviceName_)
      {
        RCLCPP_ERROR_STREAM(
          getLogger(),
          "[" << this->getName() << "] service server with no service name set. Skipping.");
      }
      else
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << this->getName() << "] Client Service: " << *serviceName_);
 
        server_ = getNode()->create_service<TService>(
          *serviceName_, std::bind(
                           &SmaccServiceServerClient<TService>::serviceCallback, this,
                           std::placeholders::_1, std::placeholders::_2));
 
        this->initialized_ = true;
      }
    }
  }

References smacc2::ISmaccClient::getLogger(), smacc2::ISmaccClient::getName(), smacc2::ISmaccClient::getNode(), smacc2::client_bases::SmaccServiceServerClient< TService >::initialized_, smacc2::client_bases::SmaccServiceServerClient< TService >::server_, and smacc2::client_bases::SmaccServiceServerClient< TService >::serviceName_.

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◆ onServiceRequestReceived()

template<typename TService >

template<typename T >

boost::signals2::connection smacc2::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived	(	void(T::*)(const std::shared_ptr< typename TService::Request >, std::shared_ptr< typename TService::Response >)	callback,
		T *	object
	)

inline

Definition at line 54 of file smacc_service_server_client.hpp.

  {
    return this->getStateMachine()->createSignalConnection(
      onServiceRequestReceived_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getStateMachine(), and smacc2::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived_.

Here is the call graph for this function:

◆ serviceCallback()

template<typename TService >

void smacc2::client_bases::SmaccServiceServerClient< TService >::serviceCallback	(	const std::shared_ptr< typename TService::Request >	req,
		std::shared_ptr< typename TService::Response >	res
	)

inlineprivate

Definition at line 90 of file smacc_service_server_client.hpp.

  {
    onServiceRequestReceived_(req, res);
  }

References smacc2::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived_.

Member Data Documentation

◆ initialized_

template<typename TService >

bool smacc2::client_bases::SmaccServiceServerClient< TService >::initialized_

private

Definition at line 97 of file smacc_service_server_client.hpp.

Referenced by smacc2::client_bases::SmaccServiceServerClient< TService >::onInitialize(), and smacc2::client_bases::SmaccServiceServerClient< TService >::SmaccServiceServerClient().

◆ onServiceRequestReceived_

template<typename TService >

smacc2::SmaccSignal<void( const std::shared_ptr<typename TService::Request>, std::shared_ptr<typename TService::Response>)> smacc2::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived_

Definition at line 51 of file smacc_service_server_client.hpp.

Referenced by smacc2::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived(), and smacc2::client_bases::SmaccServiceServerClient< TService >::serviceCallback().