#include <smacc_action_client_base.hpp>

Inheritance diagram for smacc2::client_bases::SmaccActionClientBase< ActionType >:

Collaboration diagram for smacc2::client_bases::SmaccActionClientBase< ActionType >:

Public Types
typedef rclcpp_action::Client< ActionType >	ActionClient

using	Goal = typename ActionClient::Goal

using	Feedback = typename ActionClient::Feedback

using	GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

typedef GoalHandle::WrappedResult	WrappedResult

using	SendGoalOptions = typename ActionClient::SendGoalOptions

using	GoalResponseCallback

using	FeedbackCallback = typename GoalHandle::FeedbackCallback

using	ResultCallback = typename GoalHandle::ResultCallback

using	CancelRequest = typename ActionType::Impl::CancelGoalService::Request

using	CancelResponse = typename ActionType::Impl::CancelGoalService::Response

using	CancelCallback = std::function<void(typename CancelResponse::SharedPtr)>

typedef smacc2::SmaccSignal< void(const WrappedResult &)>	SmaccActionResultSignal

Public Member Functions
	SmaccActionClientBase (std::string actionServerName)

	SmaccActionClientBase ()

virtual	~SmaccActionClientBase ()

virtual std::shared_ptr< rclcpp_action::ClientBase >	getClientBase () override

void	onInitialize () override

void	waitForServer ()

template<typename EvType >
void	postResultEvent (WrappedResult &)

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

template<typename T >
smacc2::SmaccSignalConnection	onSucceeded (void(T::callback)(WrappedResult &), T object)

template<typename T >
smacc2::SmaccSignalConnection	onSucceeded (std::function< void(WrappedResult &)> callback)

template<typename T >
smacc2::SmaccSignalConnection	onAborted (void(T::callback)(WrappedResult &), T object)

template<typename T >
smacc2::SmaccSignalConnection	onAborted (std::function< void(WrappedResult &)> callback)

template<typename T >
smacc2::SmaccSignalConnection	onCancelled (void(T::callback)(WrappedResult &), T object)

template<typename T >
smacc2::SmaccSignalConnection	onCancelled (std::function< void(WrappedResult &)> callback)

virtual bool	cancelGoal () override

std::shared_future< typename GoalHandle::SharedPtr >	sendGoal (Goal &goal, typename SmaccActionResultSignal::WeakPtr resultCallback=typename SmaccActionResultSignal::WeakPtr())

Public Member Functions inherited from smacc2::client_bases::ISmaccActionClient
	ISmaccActionClient ()

virtual	~ISmaccActionClient ()

std::string	getNamespace () const

virtual std::string	getName () const

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

virtual	~ISmaccClient ()

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 ()

Static Public Member Functions
static std::string	getEventLabel ()

Public Attributes
std::string	action_endpoint_

std::optional< std::shared_future< typename GoalHandle::SharedPtr > >	lastRequest_

std::optional< std::shared_future< typename CancelResponse::SharedPtr > >	lastCancelResponse_

SmaccActionResultSignal	onSucceeded_

SmaccActionResultSignal	onAborted_

SmaccActionResultSignal	onCancelled_

std::function< void(WrappedResult)>	postSuccessEvent

std::function< void(WrappedResult)>	postAbortedEvent

std::function< void(WrappedResult)>	postCancelledEvent

std::function< void(const Feedback &)>	postFeedbackEvent

FeedbackCallback	feedback_cb

Protected Member Functions
void	onFeedback (typename GoalHandle::SharedPtr, const std::shared_ptr< const Feedback > feedback_msg)

void	onResult (const WrappedResult &result_msg)

Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

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
ActionClient::SharedPtr	client_

Protected Attributes inherited from smacc2::client_bases::ISmaccActionClient
std::string	name_

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

Detailed Description

template<typename ActionType>
class smacc2::client_bases::SmaccActionClientBase< ActionType >

Definition at line 37 of file smacc_action_client_base.hpp.

Member Typedef Documentation

◆ ActionClient

template<typename ActionType >

rclcpp_action::Client<ActionType> smacc2::client_bases::SmaccActionClientBase< ActionType >::ActionClient

Definition at line 41 of file smacc_action_client_base.hpp.

◆ CancelCallback

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::CancelCallback = std::function<void(typename CancelResponse::SharedPtr)>

Definition at line 55 of file smacc_action_client_base.hpp.

◆ CancelRequest

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::CancelRequest = typename ActionType::Impl::CancelGoalService::Request

Definition at line 53 of file smacc_action_client_base.hpp.

◆ CancelResponse

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::CancelResponse = typename ActionType::Impl::CancelGoalService::Response

Definition at line 54 of file smacc_action_client_base.hpp.

◆ Feedback

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::Feedback = typename ActionClient::Feedback

Definition at line 44 of file smacc_action_client_base.hpp.

◆ FeedbackCallback

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::FeedbackCallback = typename GoalHandle::FeedbackCallback

Definition at line 51 of file smacc_action_client_base.hpp.

◆ Goal

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::Goal = typename ActionClient::Goal

Definition at line 43 of file smacc_action_client_base.hpp.

◆ GoalHandle

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

Definition at line 45 of file smacc_action_client_base.hpp.

◆ GoalResponseCallback

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::GoalResponseCallback

Initial value:

std::function<void(std::shared_future<typename GoalHandle::SharedPtr>)>

Definition at line 49 of file smacc_action_client_base.hpp.

◆ ResultCallback

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::ResultCallback = typename GoalHandle::ResultCallback

Definition at line 52 of file smacc_action_client_base.hpp.

◆ SendGoalOptions

template<typename ActionType >

using smacc2::client_bases::SmaccActionClientBase< ActionType >::SendGoalOptions = typename ActionClient::SendGoalOptions

Definition at line 48 of file smacc_action_client_base.hpp.

◆ SmaccActionResultSignal

template<typename ActionType >

smacc2::SmaccSignal<void(const WrappedResult &)> smacc2::client_bases::SmaccActionClientBase< ActionType >::SmaccActionResultSignal

Definition at line 57 of file smacc_action_client_base.hpp.

◆ WrappedResult

template<typename ActionType >

GoalHandle::WrappedResult smacc2::client_bases::SmaccActionClientBase< ActionType >::WrappedResult

Definition at line 46 of file smacc_action_client_base.hpp.

Constructor & Destructor Documentation

◆ SmaccActionClientBase() [1/2]

template<typename ActionType >

smacc2::client_bases::SmaccActionClientBase< ActionType >::SmaccActionClientBase ( std::string actionServerName )

inline

Definition at line 60 of file smacc_action_client_base.hpp.

                                                    : ISmaccActionClient()
  {
    action_endpoint_ = actionServerName;
  }

References smacc2::client_bases::SmaccActionClientBase< ActionType >::action_endpoint_.

◆ SmaccActionClientBase() [2/2]

template<typename ActionType >

smacc2::client_bases::SmaccActionClientBase< ActionType >::SmaccActionClientBase ( )

inline

Definition at line 65 of file smacc_action_client_base.hpp.

65: ISmaccActionClient() { name_ = ""; }

smacc2::client_bases::ISmaccActionClient::name_

std::string name_

Definition smacc_action_client.hpp:54

References smacc2::client_bases::ISmaccActionClient::name_.

◆ ~SmaccActionClientBase()

template<typename ActionType >

virtual smacc2::client_bases::SmaccActionClientBase< ActionType >::~SmaccActionClientBase ( )

inlinevirtual

Definition at line 67 of file smacc_action_client_base.hpp.

67{}

Member Function Documentation

◆ cancelGoal()

template<typename ActionType >

virtual bool smacc2::client_bases::SmaccActionClientBase< ActionType >::cancelGoal ( )

inlineoverridevirtual

Implements smacc2::client_bases::ISmaccActionClient.

Definition at line 184 of file smacc_action_client_base.hpp.

  {
    lastCancelResponse_ = this->client_->async_cancel_all_goals();
 
    return true;
  }

References smacc2::client_bases::SmaccActionClientBase< ActionType >::client_, and smacc2::client_bases::SmaccActionClientBase< ActionType >::lastCancelResponse_.

◆ getClientBase()

template<typename ActionType >

virtual std::shared_ptr< rclcpp_action::ClientBase > smacc2::client_bases::SmaccActionClientBase< ActionType >::getClientBase ( )

inlineoverridevirtual

Implements smacc2::client_bases::ISmaccActionClient.

Definition at line 69 of file smacc_action_client_base.hpp.

69{ return client_; }

References smacc2::client_bases::SmaccActionClientBase< ActionType >::client_.

◆ getEventLabel()

template<typename ActionType >

static std::string smacc2::client_bases::SmaccActionClientBase< ActionType >::getEventLabel ( )

inlinestatic

Definition at line 89 of file smacc_action_client_base.hpp.

  {
    auto type = TypeInfo::getTypeInfoFromType<ActionType>();
    return type->getNonTemplatedTypeName();
  }

References smacc2::introspection::TypeInfo::getTypeInfoFromType().

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◆ onAborted() [1/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted ( std::function< void(WrappedResult &)> callback )

inline

Definition at line 167 of file smacc_action_client_base.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ onAborted() [2/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted	(	void(T::*	callback )(WrappedResult &),
		T *	object )

inline

Definition at line 161 of file smacc_action_client_base.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ onCancelled() [1/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled ( std::function< void(WrappedResult &)> callback )

inline

Definition at line 179 of file smacc_action_client_base.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ onCancelled() [2/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled	(	void(T::*	callback )(WrappedResult &),
		T *	object )

inline

Definition at line 173 of file smacc_action_client_base.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ onFeedback()

template<typename ActionType >

void smacc2::client_bases::SmaccActionClientBase< ActionType >::onFeedback	(	typename GoalHandle::SharedPtr	,
		const std::shared_ptr< const Feedback >	feedback_msg )

inlineprotected

Definition at line 245 of file smacc_action_client_base.hpp.

  {
    postFeedbackEvent(*feedback_msg);
  }

References smacc2::client_bases::SmaccActionClientBase< ActionType >::postFeedbackEvent.

Referenced by smacc2::client_bases::SmaccActionClientBase< ActionType >::onStateOrthogonalAllocation().

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◆ onInitialize()

template<typename ActionType >

void smacc2::client_bases::SmaccActionClientBase< ActionType >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 71 of file smacc_action_client_base.hpp.

  {
    if (name_ == "") name_ = smacc2::demangleSymbol(typeid(*this).name());
    this->client_ = rclcpp_action::create_client<ActionType>(getNode(), action_endpoint_);
    // RCLCPP_INFO_STREAM(
    //   this->getLogger(),
    //   "Waiting for action server '" << name_ << "' of type: " << demangledTypeName<ActionType>());
    //client_->wait_for_action_server();
  }

References smacc2::client_bases::SmaccActionClientBase< ActionType >::action_endpoint_, smacc2::client_bases::SmaccActionClientBase< ActionType >::client_, smacc2::introspection::demangleSymbol(), smacc2::ISmaccClient::getNode(), and smacc2::client_bases::ISmaccActionClient::name_.

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◆ onResult()

template<typename ActionType >

void smacc2::client_bases::SmaccActionClientBase< ActionType >::onResult ( const WrappedResult & result_msg )

inlineprotected

Definition at line 252 of file smacc_action_client_base.hpp.

  {
    const auto & resultType = result_msg.code;
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << this->getName() << "] response result ["
                       << rclcpp_action::to_string(result_msg.goal_id) << "]: " << (int)resultType);
 
    if (resultType == rclcpp_action::ResultCode::SUCCEEDED)
    {
      RCLCPP_INFO(getLogger(), "[%s] request result: Success", this->getName().c_str());
      onSucceeded_(result_msg);
      postSuccessEvent(result_msg);
    }
    else if (resultType == rclcpp_action::ResultCode::ABORTED)
    {
      RCLCPP_INFO(getLogger(), "[%s] request result: Aborted", this->getName().c_str());
      onAborted_(result_msg);
      postAbortedEvent(result_msg);
    }
    else if (resultType == rclcpp_action::ResultCode::CANCELED)
    {
      RCLCPP_INFO(getLogger(), "[%s] request result: Cancelled", this->getName().c_str());
      onCancelled_(result_msg);
      postCancelledEvent(result_msg);
    }
    else
    {
      RCLCPP_INFO(
        getLogger(), "[%s] request result: NOT HANDLED TYPE: %d", this->getName().c_str(),
        (int)resultType);
    }
  }

References smacc2::ISmaccClient::getLogger(), smacc2::client_bases::ISmaccActionClient::getName(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted_, smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled_, smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded_, smacc2::client_bases::SmaccActionClientBase< ActionType >::postAbortedEvent, smacc2::client_bases::SmaccActionClientBase< ActionType >::postCancelledEvent, and smacc2::client_bases::SmaccActionClientBase< ActionType >::postSuccessEvent.

Referenced by smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal().

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◆ onStateOrthogonalAllocation()

template<typename ActionType >

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_bases::SmaccActionClientBase< ActionType >::onStateOrthogonalAllocation ( )

inline

Definition at line 125 of file smacc_action_client_base.hpp.

  {
    // we create here all the event factory functions capturing the TOrthogonal
    postSuccessEvent = [this](auto msg)
    { this->postResultEvent<EvActionSucceeded<TSourceObject, TOrthogonal>>(msg); };
    postAbortedEvent = [this](auto msg)
    { this->postResultEvent<EvActionAborted<TSourceObject, TOrthogonal>>(msg); };
 
    postCancelledEvent = [this](auto msg)
    { this->postResultEvent<EvActionCancelled<TSourceObject, TOrthogonal>>(msg); };
 
    postFeedbackEvent = [this](auto msg)
    {
      auto actionFeedbackEvent = new EvActionFeedback<Feedback, TOrthogonal>();
      actionFeedbackEvent->client = this;
      actionFeedbackEvent->feedbackMessage = msg;
      this->postEvent(actionFeedbackEvent);
      RCLCPP_DEBUG(getLogger(), "[%s] FEEDBACK EVENT", demangleType(typeid(*this)).c_str());
    };
 
    feedback_cb = [this](auto client, auto feedback) { this->onFeedback(client, feedback); };
  }

References smacc2::introspection::demangleType(), smacc2::client_bases::SmaccActionClientBase< ActionType >::feedback_cb, smacc2::ISmaccClient::getLogger(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onFeedback(), smacc2::client_bases::SmaccActionClientBase< ActionType >::postAbortedEvent, smacc2::client_bases::SmaccActionClientBase< ActionType >::postCancelledEvent, smacc2::ISmaccClient::postEvent(), smacc2::client_bases::SmaccActionClientBase< ActionType >::postFeedbackEvent, smacc2::client_bases::SmaccActionClientBase< ActionType >::postResultEvent(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::postSuccessEvent.

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◆ onSucceeded() [1/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded ( std::function< void(WrappedResult &)> callback )

inline

Definition at line 155 of file smacc_action_client_base.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ onSucceeded() [2/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded	(	void(T::*	callback )(WrappedResult &),
		T *	object )

inline

Definition at line 149 of file smacc_action_client_base.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ postResultEvent()

template<typename ActionType >

template<typename EvType >

void smacc2::client_bases::SmaccActionClientBase< ActionType >::postResultEvent ( WrappedResult & )

inline

Definition at line 116 of file smacc_action_client_base.hpp.

  {
    auto * ev = new EvType();
    RCLCPP_INFO(
      getLogger(), "Action client Posting EVENT %s", demangleSymbol(typeid(ev).name()).c_str());
    this->postEvent(ev);
  }

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccClient::getLogger(), and smacc2::ISmaccClient::postEvent().

Referenced by smacc2::client_bases::SmaccActionClientBase< ActionType >::onStateOrthogonalAllocation().

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◆ sendGoal()

template<typename ActionType >

std::shared_future< typename GoalHandle::SharedPtr > smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal	(	Goal &	goal,
		typename SmaccActionResultSignal::WeakPtr	resultCallback = typename SmaccActionResultSignal::WeakPtr() )

inline

Definition at line 191 of file smacc_action_client_base.hpp.

  {
    SendGoalOptions options;
 
    options.feedback_callback = feedback_cb;
 
    options.result_callback =
      [this, resultCallback](
        const typename rclcpp_action::ClientGoalHandle<ActionType>::WrappedResult & result)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << getName() << "]  Action result callback, getting shared future");
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << getName() << "]  Action client Result goal id: "
                         << rclcpp_action::to_string(result.goal_id));
 
      auto resultCallbackPtr = resultCallback.lock();
 
      if (resultCallbackPtr != nullptr)
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << getName() << "]  Result CB calling user callback:"
                           << demangleSymbol(typeid(*resultCallbackPtr).name()));
        (*resultCallbackPtr)(result);
      }
      else
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << getName() << "]  Result CB calling default callback");
        this->onResult(result);
      }
    };
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] client ready clients: "
                       << this->client_->get_number_of_ready_clients());
    RCLCPP_INFO_STREAM(
      getLogger(),
      "[" << getName() << "] Waiting it is ready? " << client_->action_server_is_ready());
 
    RCLCPP_INFO_STREAM(getLogger(), getName() << ": async send goal.");
    auto lastRequest = this->client_->async_send_goal(goal, options);
    this->lastRequest_ = lastRequest;
 
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Action request");
 
    return lastRequest;
  }

References smacc2::client_bases::SmaccActionClientBase< ActionType >::client_, smacc2::introspection::demangleSymbol(), smacc2::client_bases::SmaccActionClientBase< ActionType >::feedback_cb, smacc2::ISmaccClient::getLogger(), smacc2::client_bases::ISmaccActionClient::getName(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::onResult().

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◆ waitForServer()

template<typename ActionType >

void smacc2::client_bases::SmaccActionClientBase< ActionType >::waitForServer ( )

inline

Definition at line 81 of file smacc_action_client_base.hpp.

  {
    RCLCPP_INFO_STREAM(
      this->getLogger(),
      "Waiting for action server '" << name_ << "' of type: " << demangledTypeName<ActionType>());
    client_->wait_for_action_server();
  }