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 > 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	onExit ()

Public Attributes
std::shared_future< std::shared_ptr< typename ServiceType::Response > >	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 ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.
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 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_INFO_STREAM(
      getLogger(), "[" << this->getName() << "] creating ros service client: " << serviceName_);
 
    client_ = getNode()->create_client<ServiceType>(serviceName_);
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << this->getName() << "] making service request to " << serviceName_);
 
    resultFuture_ = client_->async_send_request(request_).future.share();
 
    std::future_status status = resultFuture_.wait_for(0s);
 
    RCLCPP_INFO_STREAM(
      getLogger(), "thread state: " << (int)status << " ok " << rclcpp::ok() << " shutdown "
                                    << this->isShutdownRequested() << "");
 
    while (status != std::future_status::ready && rclcpp::ok() && !this->isShutdownRequested())
    {
      RCLCPP_INFO_STREAM_THROTTLE(
        getLogger(), *getNode()->get_clock(), 1000,
        "[" << this->getName() << "] waiting response ");
      rclcpp::sleep_for(pollRate_);
      status = resultFuture_.wait_for(0s);
    }
 
    if (status == std::future_status::ready)
    {
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] response received ");
      result_ = resultFuture_.get();
      onServiceResponse(result_);
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_INFO_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::CbPauseSlam::onEntry(), cl_nav2z::CbResumeSlam::onEntry(), cl_nitrosz::CbPauseSlam::onEntry(), and cl_nitrosz::CbResumeSlam::onEntry().

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onServiceResponse()

template<typename ServiceType >

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

inlineprotectedvirtual

Definition at line 98 of file cb_call_service.hpp.

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

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

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

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Member Data Documentation

client_

template<typename ServiceType >

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

protected

Definition at line 94 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 90 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 96 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 89 of file cb_call_service.hpp.

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

resultFuture_

template<typename ServiceType >

std::shared_future<std::shared_ptr<typename ServiceType::Response> > smacc2::client_behaviors::CbServiceCall< ServiceType >::resultFuture_

Definition at line 87 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 95 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