#include <smacc_service_client.h>

Inheritance diagram for smacc::client_bases::SmaccServiceClient< ServiceType >:

Collaboration diagram for smacc::client_bases::SmaccServiceClient< ServiceType >:

Public Member Functions
	SmaccServiceClient ()

	SmaccServiceClient (std::string service_name)

virtual void	initialize () override

bool	call (ServiceType &srvreq)

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

virtual	~ISmaccClient ()

virtual void	initialize ()

virtual std::string	getName () const

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

template<typename EventType >
void	postEvent ()

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

virtual smacc::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)

Public Attributes
boost::optional< std::string >	serviceName_

Protected Attributes
ros::NodeHandle	nh_

ros::ServiceClient	client_

bool	initialized_

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

Additional Inherited Members
Protected Member Functions inherited from smacc::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)

void	setStateMachine (ISmaccStateMachine *stateMachine)

void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Detailed Description

template<typename ServiceType>
class smacc::client_bases::SmaccServiceClient< ServiceType >

Definition at line 17 of file smacc_service_client.h.

Constructor & Destructor Documentation

◆ SmaccServiceClient() [1/2]

template<typename ServiceType >

smacc::client_bases::SmaccServiceClient< ServiceType >::SmaccServiceClient ( )

inline

Definition at line 22 of file smacc_service_client.h.

    {
        initialized_ = false;
    }

References smacc::client_bases::SmaccServiceClient< ServiceType >::initialized_.

◆ SmaccServiceClient() [2/2]

template<typename ServiceType >

smacc::client_bases::SmaccServiceClient< ServiceType >::SmaccServiceClient ( std::string service_name )

inline

Definition at line 26 of file smacc_service_client.h.

    {
      serviceName_ = service_name;
      initialized_ = false;
    }

References smacc::client_bases::SmaccServiceClient< ServiceType >::initialized_, and smacc::client_bases::SmaccServiceClient< ServiceType >::serviceName_.

Member Function Documentation

◆ call()

template<typename ServiceType >

bool smacc::client_bases::SmaccServiceClient< ServiceType >::call ( ServiceType & srvreq )

inline

Definition at line 50 of file smacc_service_client.h.

    {
        return client_.call(srvreq);
    }

References smacc::client_bases::SmaccServiceClient< ServiceType >::client_.

◆ initialize()

template<typename ServiceType >

virtual void smacc::client_bases::SmaccServiceClient< ServiceType >::initialize ( )

inlineoverridevirtual

Reimplemented from smacc::ISmaccClient.

Definition at line 32 of file smacc_service_client.h.

    {
        if (!initialized_)
        {
            if (!serviceName_)
            {
                ROS_ERROR("service client with no service name set. Skipping.");
            }
            else
            {
                ROS_INFO_STREAM("[" << this->getName() << "] Client Service: " << *serviceName_);
                this->initialized_ = true;
 
                client_ = nh_.serviceClient<ServiceType>(*serviceName_);
            }
        }
    }