#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 >)

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)

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)

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

Protected Member Functions
void	onServiceResponse (typename rclcpp::Client< ServiceType >::SharedFuture result)

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 ()

virtual void	onEntry ()

virtual void	onExit ()

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

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual void	dispose ()

virtual rclcpp::Node::SharedPtr	getNode ()

virtual rclcpp::Logger	getLogger ()

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 29 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 32 of file cb_call_service.hpp.

32: serviceName_(serviceName) {}

smacc2::client_behaviors::CbServiceCall::serviceName_

std::string serviceName_

Definition: cb_call_service.hpp:56

◆ CbServiceCall() [2/2]

template<typename ServiceType >

smacc2::client_behaviors::CbServiceCall< ServiceType >::CbServiceCall	(	const char *	serviceName,
		std::shared_ptr< typename ServiceType::Request >
	)

inline

Definition at line 34 of file cb_call_service.hpp.

  : serviceName_(serviceName)
  {
  }

Member Function Documentation

◆ onEntry()

template<typename ServiceType >

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

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 39 of file cb_call_service.hpp.

  {
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << this->getName() << "] creating service client: " << serviceName_);
 
    client_ = getNode()->create_client<ServiceType>(serviceName_);
 
    result_ = client_->async_send_request(request_).get();
 
    //, std::bind(&CbServiceCall<ServiceType>::onServiceResponse, this, std::placeholders::_1));
  }