#include <itm_service.hpp>

Inheritance diagram for intersection_transit_maneuvering::Servicer:

Collaboration diagram for intersection_transit_maneuvering::Servicer:

Public Member Functions
	Servicer ()
	Construct a new Servicer object. More...

void	call (carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr &resp)
	Method that uses the ros::Service::call() definition as specified in the ROS API. More...

void	set_client (carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory > srv_client)
	set the trajectory service client More...

Public Member Functions inherited from CallInterface
virtual void	call (carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr &resp)=0

virtual	~CallInterface ()

virtual void	set_client (carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory > srv_client)=0
	set the trajectory service client More...

Private Attributes
carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory >	client

Detailed Description

Definition at line 32 of file itm_service.hpp.

Constructor & Destructor Documentation

◆ Servicer()

intersection_transit_maneuvering::Servicer::Servicer ( )

Construct a new Servicer object.

Definition at line 33 of file itm_service.cpp.

33{};

Member Function Documentation

◆ call()

void intersection_transit_maneuvering::Servicer::call	(	carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr &	resp
	)

virtual

Method that uses the ros::Service::call() definition as specified in the ROS API.

Parameters

req	Incoming PlanTrajectory service request
resp	Incoming PlanTrajectory service response

Returns: true if successful, otherwise false

Implements CallInterface.

Definition at line 35 of file itm_service.cpp.

    {
       std::shared_future<carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr> resp_future = client->async_send_request(req);
 
       auto future_status = resp_future.wait_for(std::chrono::milliseconds(500));
                    
        if (future_status == std::future_status::ready) {
            resp = resp_future.get();
            
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("intersection_transit_maneuvering"), "Responsible tactical plugin was called and got trajectory size: " << resp->trajectory_plan.trajectory_points.size());
        }
        else
        {
            RCLCPP_DEBUG(rclcpp::get_logger("intersection_transit_maneuvering"), "Failed to call the responsible tactical plugin from intersection_transit_maneuvering");
        }
        return;
 
    }

References client.

◆ set_client()

void intersection_transit_maneuvering::Servicer::set_client ( carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory > srv_client )

virtual

set the trajectory service client

Parameters

client input trajectory service client

Implements CallInterface.

Definition at line 55 of file itm_service.cpp.

    {
        client = srv_client;
    }

References client.

Member Data Documentation

◆ client

carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanTrajectory> intersection_transit_maneuvering::Servicer::client

private

Definition at line 58 of file itm_service.hpp.

Referenced by call(), and set_client().

The documentation for this class was generated from the following files:

intersection_transit_maneuvering/include/intersection_transit_maneuvering/itm_service.hpp
intersection_transit_maneuvering/src/itm_service.cpp

Public Member Functions

Private Attributes