#include <smacc_service_server_client.h>

Inheritance diagram for smacc::client_bases::SmaccServiceServerClient< TService >:

Collaboration diagram for smacc::client_bases::SmaccServiceServerClient< TService >:

Public Member Functions
	SmaccServiceServerClient ()

	SmaccServiceServerClient (std::string service_name)

virtual	~SmaccServiceServerClient ()

template<typename T >
boost::signals2::connection	onServiceRequestReceived (void(T::callback)(TServiceRequest &, std::shared_ptr< TServiceResponse >), T object)

virtual void	initialize () override

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_

smacc::SmaccSignal< void(TServiceRequest &, std::shared_ptr< TServiceResponse >)>	onServiceRequestReceived_

Protected Attributes
ros::NodeHandle	nh_

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

Private Types
using	TServiceRequest = typename TService::Request

using	TServiceResponse = typename TService::Response

Private Member Functions
bool	serviceCallback (TServiceRequest &req, TServiceResponse &res)

Private Attributes
ros::ServiceServer	server_

bool	initialized_

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 TService>
class smacc::client_bases::SmaccServiceServerClient< TService >

Definition at line 12 of file smacc_service_server_client.h.

Member Typedef Documentation

◆ TServiceRequest

template<typename TService >

using smacc::client_bases::SmaccServiceServerClient< TService >::TServiceRequest = typename TService::Request

private

Definition at line 13 of file smacc_service_server_client.h.

◆ TServiceResponse

template<typename TService >

using smacc::client_bases::SmaccServiceServerClient< TService >::TServiceResponse = typename TService::Response

private

Definition at line 14 of file smacc_service_server_client.h.

Constructor & Destructor Documentation

◆ SmaccServiceServerClient() [1/2]

template<typename TService >

smacc::client_bases::SmaccServiceServerClient< TService >::SmaccServiceServerClient ( )

inline

Definition at line 18 of file smacc_service_server_client.h.

18{ initialized_ = false; }

smacc::client_bases::SmaccServiceServerClient::initialized_

bool initialized_

Definition: smacc_service_server_client.h:65

References smacc::client_bases::SmaccServiceServerClient< TService >::initialized_.

◆ SmaccServiceServerClient() [2/2]

template<typename TService >

smacc::client_bases::SmaccServiceServerClient< TService >::SmaccServiceServerClient ( std::string service_name )

inline

Definition at line 19 of file smacc_service_server_client.h.

                                                   {
    serviceName_ = service_name;
    initialized_ = false;
  }

References smacc::client_bases::SmaccServiceServerClient< TService >::initialized_, and smacc::client_bases::SmaccServiceServerClient< TService >::serviceName_.

◆ ~SmaccServiceServerClient()

template<typename TService >

virtual smacc::client_bases::SmaccServiceServerClient< TService >::~SmaccServiceServerClient ( )

inlinevirtual

Definition at line 24 of file smacc_service_server_client.h.

24{ server_.shutdown(); }

smacc::client_bases::SmaccServiceServerClient::server_

ros::ServiceServer server_

Definition: smacc_service_server_client.h:64

References smacc::client_bases::SmaccServiceServerClient< TService >::server_.

Member Function Documentation

◆ initialize()

template<typename TService >

virtual void smacc::client_bases::SmaccServiceServerClient< TService >::initialize ( )

inlineoverridevirtual

Reimplemented from smacc::ISmaccClient.

Definition at line 37 of file smacc_service_server_client.h.

                                     {
    if (!initialized_) {
      if (!serviceName_) {
        ROS_ERROR("service server with no service name set. Skipping.");
      } else {
        ROS_INFO_STREAM("[" << this->getName()
                            << "] Client Service: " << serviceName_);
 
        server_ = nh_.advertiseService(
            *serviceName_, &SmaccServiceServerClient<TService>::serviceCallback,
            this);
        this->initialized_ = true;
      }
    }
  }

References smacc::ISmaccClient::getName(), smacc::client_bases::SmaccServiceServerClient< TService >::initialized_, smacc::client_bases::SmaccServiceServerClient< TService >::nh_, smacc::client_bases::SmaccServiceServerClient< TService >::server_, and smacc::client_bases::SmaccServiceServerClient< TService >::serviceName_.

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◆ onServiceRequestReceived()

template<typename TService >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived	(	void(T::*)(TServiceRequest &, std::shared_ptr< TServiceResponse >)	callback,
		T *	object
	)

inline

Definition at line 30 of file smacc_service_server_client.h.

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

References smacc::ISmaccStateMachine::createSignalConnection(), smacc::ISmaccClient::getStateMachine(), and smacc::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived_.

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◆ serviceCallback()

template<typename TService >

bool smacc::client_bases::SmaccServiceServerClient< TService >::serviceCallback	(	TServiceRequest &	req,
		TServiceResponse &	res
	)

inlineprivate

Definition at line 57 of file smacc_service_server_client.h.

  {
    std::shared_ptr<TServiceResponse> response{new TServiceResponse};
    onServiceRequestReceived_(req, response);
    res = *response;
    return true;
  }