itm_service.hpp

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/*
 * Copyright (C) 2023 LEIDOS.
 *
 * 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.
 */
 
#include <rclcpp/rclcpp.hpp>
#include <vector>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <carma_planning_msgs/msg/trajectory_plan_point.hpp>
#include <carma_planning_msgs/msg/plugin.hpp>
#include <carma_planning_msgs/msg/maneuver.hpp>
#include <boost/shared_ptr.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <boost/geometry.hpp>
#include <carma_planning_msgs/srv/plan_trajectory.hpp>
#include <intersection_transit_maneuvering/call_interface.hpp>
 
 
namespace intersection_transit_maneuvering
{
class Servicer: public CallInterface
{
    public:
        Servicer();
 
        void call(carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr& resp); 
        
        void set_client(carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanTrajectory> srv_client);
    
    private:
        carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanTrajectory> client; 
 
 
};
 
}