.. _program_listing_file_include_soar_ros_Service.hpp:

Program Listing for File Service.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_soar_ros_Service.hpp>` (``include/soar_ros/Service.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__SERVICE_HPP_
   #define SOAR_ROS__SERVICE_HPP_
   
   #include <memory>
   #include <string>
   
   #include <rclcpp/rclcpp.hpp>
   
   #include "Interface.hpp"
   #include "SafeQueue.hpp"
   
   #include "sml_Client.h"
   
   namespace soar_ros
   {
   template <typename T, typename pRequestType = typename T::Request::SharedPtr,
             typename pResponseType = typename T::Response::SharedPtr>
   class Service : public virtual Input<pRequestType>, public virtual Output<pResponseType>, public Interface
   {
   protected:
     typename rclcpp::Service<T>::SharedPtr m_service;
     std::string m_topic;
     rclcpp::Node::SharedPtr m_node;
     sml::Agent* m_pAgent;
     rclcpp::CallbackGroup::SharedPtr m_callback_group;
     rclcpp::QoS m_qos;
   
     void callback([[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header, pRequestType request,
                   pResponseType response)
     {
       // send data via createWMEs
       this->m_r2sQueue.push(request);
       // This is a blocking call!
       *response = *(this->m_s2rQueue.pop());
     }
   
   public:
     Service(sml::Agent* agent, rclcpp::Node::SharedPtr node, const std::string& service_name,
             rclcpp::QoS qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_default)),
             rclcpp::CallbackGroup::SharedPtr callback_group = nullptr)
       : m_topic(service_name), m_node(node), m_pAgent(agent), m_callback_group(callback_group), m_qos(qos)
     {
       if (!m_callback_group)
       {
         m_callback_group = m_node->get_node_base_interface()->get_default_callback_group();
       }
   
       m_service = m_node.get()->create_service<T>(
           m_topic,
           std::bind(&Service::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), qos);
     }
     ~Service()
     {
     }
   
     virtual void parse(pRequestType msg) = 0;
     pResponseType 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__SERVICE_HPP_