.. _program_listing_file_include_soar_ros_Client.hpp:

Program Listing for File Client.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_soar_ros_Client.hpp>` (``include/soar_ros/Client.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2024 Moritz Schmidt
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef SOAR_ROS__CLIENT_HPP_
   #define SOAR_ROS__CLIENT_HPP_
   
   namespace soar_ros
   {
   
   #include <rclcpp/rclcpp.hpp>
   #include <string>
   
   #include "Interface.hpp"
   #include "SafeQueue.hpp"
   #include "sml_Client.h"
   
   template<typename T, typename pRequestType = typename T::Request::SharedPtr,
     typename pResponseType = typename T::Response::SharedPtr>
   class Client : public virtual Output<pRequestType>,
     public virtual Input<pResponseType>,
     public Interface
   {
   protected:
     typename rclcpp::Client<T>::SharedPtr m_client;
     std::string m_topic;
     rclcpp::Node::SharedPtr m_node;
     sml::Agent * m_pAgent;
     std::thread m_send_client_requests;
     std::atomic<bool> isRunning;
   
     void run()
     {
       while (isRunning.load()) {
         auto timeout_duration = std::chrono::seconds(10);
         auto start_time = std::chrono::steady_clock::now();
         while (!m_client->wait_for_service(std::chrono::seconds(1))) {
           if (!rclcpp::ok()) {
             RCLCPP_ERROR(
               this->m_node->get_logger(),
               "Interrupted while waiting for the service. Exiting.");
             isRunning.store(false);
             break;
           }
   
           auto current_time = std::chrono::steady_clock::now();
           if (current_time - start_time >= timeout_duration) {
             RCLCPP_ERROR(
               this->m_node->get_logger(),
               "Timeout while waiting for service %s", m_topic.c_str());
             // rclcpp::shutdown();
             // break;
           }
   
           RCLCPP_WARN(
             this->m_node->get_logger(),
             "%s service not available, waiting again...",
             m_topic.c_str());
         }
   
         auto msg = this->m_s2rQueue.pop();
   
         auto result = m_client->async_send_request(msg);
   
         auto response = result.get();
         this->m_r2sQueue.push(response);
       }
     }
   
   public:
     Client(
       sml::Agent * agent, rclcpp::Node::SharedPtr node,
       const std::string & client_name)
     : m_topic(client_name), m_node(node), m_pAgent(agent), isRunning(true)
     {
       m_client = m_node.get()->create_client<T>(client_name);
       m_send_client_requests = std::thread(&Client::run, this);
     }
   
     ~Client()
     {
       isRunning.store(false);
       if (m_send_client_requests.joinable()) {
         m_send_client_requests.join();
       }
     }
   
     virtual void parse(pResponseType msg) = 0;
     pRequestType parse(sml::Identifier * id) override = 0;
   
     std::string getTopic() override {return m_topic;}
   
     sml::Agent * getAgent() override {return m_pAgent;}
   };
   }  // namespace soar_ros
   
   #endif  // SOAR_ROS__CLIENT_HPP_