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pabloinigoblascopabloinigoblasco
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Merge pull request #50 from FoxRoboticsUK/feature/service-server-client
Added new service server clientThank you very much. It works. Lets merge it with the melodic branch. We still will need to do some porting work to master and noetic. and client behaviour bases
2 parents 987e479 + dc0cc10 commit f9640e0

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‎smacc/include/smacc/client_bases/smacc_service_client.h‎

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@@ -23,6 +23,11 @@ class SmaccServiceClient : public smacc::ISmaccClient
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{
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initialized_ = false;
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}
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SmaccServiceClient(std::string service_name)
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{
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serviceName_ = service_name;
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initialized_ = false;
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}
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virtual void initialize() override
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{

‎smacc/include/smacc/client_bases/smacc_service_server_client.h‎

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#pragma once
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#include <smacc/smacc_client.h>
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#include <smacc/smacc_signal.h>
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#include <boost/optional/optional_io.hpp>
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#include <std_srvs/Empty.h>
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namespace smacc {
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namespace client_bases {
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template <typename TService>
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class SmaccServiceServerClient : public smacc::ISmaccClient
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{
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using TServiceRequest = typename TService::Request;
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using TServiceResponse = typename TService::Response;
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public:
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boost::optional<std::string> serviceName_;
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SmaccServiceServerClient() { initialized_ = false; }
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SmaccServiceServerClient(std::string service_name)
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{
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serviceName_ = service_name;
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initialized_ = false;
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}
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virtual ~SmaccServiceServerClient() { server_.shutdown(); }
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smacc::SmaccSignal<bool(TServiceRequest&, std::shared_ptr<TServiceResponse>)>
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onServiceRequestReceived_;
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template <typename T>
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boost::signals2::connection onServiceRequestReceived(
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bool (T::*callback)(TServiceRequest&, std::shared_ptr<TServiceResponse>),
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T* object) {
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return this->getStateMachine()->createSignalConnection(
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onServiceRequestReceived_, callback, object);
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}
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virtual void initialize() override {
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if (!initialized_) {
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if (!serviceName_) {
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ROS_ERROR("service server with no service name set. Skipping.");
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} else {
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ROS_INFO_STREAM("[" << this->getName()
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<< "] Client Service: " << serviceName_);
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server_ = nh_.advertiseService(
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*serviceName_,
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&SmaccServiceServerClient<TService>::serviceCallback, this);
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this->initialized_ = true;
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}
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}
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}
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protected:
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ros::NodeHandle nh_;
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private:
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bool serviceCallback(TServiceRequest& req, TServiceResponse& res) {
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std::shared_ptr<TServiceResponse> response{new TServiceResponse};
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auto ret_val = onServiceRequestReceived_(req, response);
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if(!ret_val) // Check if response is empty
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{
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ROS_WARN("No return value receieved from service call. Are you returning a value?");
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return false;
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}
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res = *response;
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return *ret_val;
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}
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ros::ServiceServer server_;
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bool initialized_;
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};
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} // namespace client_bases
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} // namespace smacc

‎smacc/include/smacc/client_behavior_bases/cb_service_server_callback_base.h‎

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#pragma once
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#include <smacc/smacc_client_behavior.h>
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namespace smacc {
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template <typename TService>
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class CbServiceServerCallbackBase : public smacc::SmaccClientBehavior {
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public:
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virtual void onEntry() override {
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this->requiresClient(attachedClient_);
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attachedClient_->onServiceRequestReceived(
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&CbServiceServerCallbackBase::onServiceRequestReceived, this);
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}
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virtual bool onServiceRequestReceived(typename TService::Request& req,
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std::shared_ptr<typename TService::Response> res) = 0;
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protected:
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smacc::client_bases::SmaccServiceServerClient<TService>* attachedClient_ =
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nullptr;
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};
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} // namespace smacc

‎smacc_sm_reference_library/sm_atomic_services/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package sm_atomic
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Forthcoming
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-----------
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* creating feature smacc_runtime test
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* Merge branch 'master' into melodic-devel
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* adding xterm dependency to examples
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* Final CbTimer Push
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* Merge branch 'master' into melodic-devel
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* fixed Doxygen Client Namespaces
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* refactoring client namespaces names
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* Merge branch 'master' into melodic-devel
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* sm_atomic diagrams
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* Update README.md
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Improved sm_atomic
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* more formatting & commenting
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* renaming runtimeConfiguration to runtimeConfigure
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* pushing renaming of runtimeConfigure
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* more on smacc behaviors
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* Changed static_configure to configure_orthogonal
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* unpushed code
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* Replaced all smacc::transition's with Transition
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* Update README.md
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* Adding sm images
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* adding launch file to sm_atomic
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* Renaming transition
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* sm dance bot and refactoring namings
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* namespaces iteration 3, orthogonal recurrent pattern, more tsts on sm_dance_bot_2
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* more refactoring and renaming examples and namespaces
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* progressing in the API and testing timers and callbacks
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* ros timer client behaviors, refactoring sm_atomic and logic unit hierarchy. other improvements on rosout
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Create README.md
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* more naming refactoring in move_base_z_client
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* renaming move_base client to ClMoveBaseZ (zorro)
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* renaming orthogonals
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* more on refactoring renaming
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* adding object tagging to clients, specifically action clients
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* renaming consistently SmAtomic
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* testing countdown logic unit more refactoring and analyzing propagating issue
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* Contributors: Brett Aldrich, Pablo Iñigo Blasco, Pabo Iñigo Blasco, Unknown, Víctor Ferrer García, [email protected], brettpac, pablo.inigo.blasco, reelrbtx
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* creating feature smacc_runtime test
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* Merge branch 'master' into melodic-devel
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* adding xterm dependency to examples
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* Final CbTimer Push
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* Merge branch 'master' into melodic-devel
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* fixed Doxygen Client Namespaces
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* refactoring client namespaces names
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* Merge branch 'master' into melodic-devel
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* sm_atomic diagrams
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* Update README.md
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Improved sm_atomic
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* more formatting & commenting
79+
* renaming runtimeConfiguration to runtimeConfigure
80+
* pushing renaming of runtimeConfigure
81+
* more on smacc behaviors
82+
* Changed static_configure to configure_orthogonal
83+
* unpushed code
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* Replaced all smacc::transition's with Transition
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* Update README.md
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* Adding sm images
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* adding launch file to sm_atomic
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* Renaming transition
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* sm dance bot and refactoring namings
96+
* namespaces iteration 3, orthogonal recurrent pattern, more tsts on sm_dance_bot_2
97+
* more refactoring and renaming examples and namespaces
98+
* progressing in the API and testing timers and callbacks
99+
* ros timer client behaviors, refactoring sm_atomic and logic unit hierarchy. other improvements on rosout
100+
* Update README.md
101+
* Update README.md
102+
* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Create README.md
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* more naming refactoring in move_base_z_client
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* renaming move_base client to ClMoveBaseZ (zorro)
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* renaming orthogonals
110+
* more on refactoring renaming
111+
* adding object tagging to clients, specifically action clients
112+
* renaming consistently SmAtomic
113+
* testing countdown logic unit more refactoring and analyzing propagating issue
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* Contributors: Brett Aldrich, Pablo Iñigo Blasco, Pabo Iñigo Blasco, Unknown, Víctor Ferrer García, [email protected], brettpac, pablo.inigo.blasco, reelrbtx

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