.. _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;
   
     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)
     : m_topic(service_name), m_node(node), m_pAgent(agent)
     {
       m_service = m_node.get()->create_service<T>(
         m_topic, std::bind(
           &Service::callback, this, std::placeholders::_1,
           std::placeholders::_2, std::placeholders::_3));
     }
     ~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_