#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 > request, std::chrono::milliseconds pollRate=100ms)

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)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod 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, bool throwExceptionIfNotExist=false)

virtual void	onEntry ()

virtual void	onExit ()

virtual void	executeOnEntry ()

virtual void	executeOnExit ()

Public Attributes
rclcpp::Client< ServiceType >::SharedFuture	resultFuture_

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

std::chrono::milliseconds	pollRate_

Protected Member Functions
virtual void	onServiceResponse (std::shared_ptr< typename ServiceType::Response >)

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 ()

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

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual void	dispose ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

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 30 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 33 of file cb_call_service.hpp.

                                          : serviceName_(serviceName)
  {
    request_ = std::make_shared<typename ServiceType::Request>();
    pollRate_ = 100ms;
  }

References smacc2::client_behaviors::CbServiceCall< ServiceType >::pollRate_, and smacc2::client_behaviors::CbServiceCall< ServiceType >::request_.

◆ CbServiceCall() [2/2]

template<typename ServiceType >

smacc2::client_behaviors::CbServiceCall< ServiceType >::CbServiceCall	(	const char *	serviceName,
		std::shared_ptr< typename ServiceType::Request >	request,
		std::chrono::milliseconds	pollRate = `100ms`
	)

inline

Definition at line 39 of file cb_call_service.hpp.

  : serviceName_(serviceName), request_(request), result_(nullptr), pollRate_(pollRate)
  {
  }

Member Function Documentation

◆ onEntry()

template<typename ServiceType >

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

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 46 of file cb_call_service.hpp.

  {
    RCLCPP_DEBUG_STREAM(
      getLogger(), "[" << this->getName() << "] creating ros service client: " << serviceName_);
 
    client_ = getNode()->create_client<ServiceType>(serviceName_);
 
    RCLCPP_DEBUG_STREAM(
      getLogger(), "[" << this->getName() << "] making service request to " << serviceName_);
 
    resultFuture_ = client_->async_send_request(request_);
 
    std::future_status status = resultFuture_.wait_for(0s);
 
    RCLCPP_DEBUG_STREAM(
      getLogger(), "thread state: " << (int)status << " ok " << rclcpp::ok() << " shutdown "
                                    << this->isShutdownRequested() << "");
    while (status != std::future_status::ready && rclcpp::ok() && !this->isShutdownRequested())
    {
      RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] waiting response ");
      rclcpp::sleep_for(pollRate_);
      status = resultFuture_.wait_for(0s);
    }
 
    if (status == std::future_status::ready)
    {
      RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] response received ");
      result_ = resultFuture_.get();
      onServiceResponse(result_);
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] response not received ");
      this->postFailureEvent();
    }
  }

References smacc2::client_behaviors::CbServiceCall< ServiceType >::client_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onServiceResponse(), smacc2::client_behaviors::CbServiceCall< ServiceType >::pollRate_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::client_behaviors::CbServiceCall< ServiceType >::request_, smacc2::client_behaviors::CbServiceCall< ServiceType >::result_, smacc2::client_behaviors::CbServiceCall< ServiceType >::resultFuture_, and smacc2::client_behaviors::CbServiceCall< ServiceType >::serviceName_.

Referenced by cl_nav2z::CbResumeSlam::onEntry().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ onServiceResponse()

template<typename ServiceType >

virtual void smacc2::client_behaviors::CbServiceCall< ServiceType >::onServiceResponse ( std::shared_ptr< typename ServiceType::Response > )

inlineprotectedvirtual

Definition at line 94 of file cb_call_service.hpp.

  {
    RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] response received ");
  }

References smacc2::ISmaccClientBehavior::getLogger(), and smacc2::ISmaccClientBehavior::getName().

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

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ client_

template<typename ServiceType >

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

protected

Definition at line 90 of file cb_call_service.hpp.

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

◆ pollRate_

template<typename ServiceType >

std::chrono::milliseconds smacc2::client_behaviors::CbServiceCall< ServiceType >::pollRate_

Definition at line 86 of file cb_call_service.hpp.

Referenced by smacc2::client_behaviors::CbServiceCall< ServiceType >::CbServiceCall(), and 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 92 of file cb_call_service.hpp.

Referenced by smacc2::client_behaviors::CbServiceCall< ServiceType >::CbServiceCall(), and 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 85 of file cb_call_service.hpp.

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

◆ resultFuture_

template<typename ServiceType >

rclcpp::Client<ServiceType>::SharedFuture smacc2::client_behaviors::CbServiceCall< ServiceType >::resultFuture_

Definition at line 84 of file cb_call_service.hpp.

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

◆ serviceName_

template<typename ServiceType >

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

protected

Definition at line 91 of file cb_call_service.hpp.

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

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

smacc2/include/smacc2/client_behaviors/cb_call_service.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CbServiceCall() [1/2]

◆ CbServiceCall() [2/2]

Member Function Documentation

◆ onEntry()

◆ onServiceResponse()

Member Data Documentation

◆ client_

◆ pollRate_

◆ request_

◆ result_

◆ resultFuture_

◆ serviceName_