service_client_handler.h

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include <string>
#include <future>
 
#include <mrs_lib/coro/internal/thread_local_continuation_scheduler.hpp>
#include <mrs_lib/coro/task.hpp>
 
namespace mrs_lib
{
  template <class ServiceType>
  class ServiceClientHandler;
 
  namespace internal
  {
    template <typename ServiceType>
      requires(rosidl_generator_traits::is_service<ServiceType>::value)
    class [[nodiscard("This service call is only performed when `co_await`ed.")]] ServiceAwaitable;
  }
 
  /* class ServiceClientHandler //{ */
 
  template <class ServiceType>
  class ServiceClientHandler
  {
 
  public:
    ServiceClientHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const rclcpp::QoS& qos = rclcpp::ServicesQoS());
 
    ServiceClientHandler();
 
    ServiceClientHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const rclcpp::QoS& qos,
                         const rclcpp::CallbackGroup::SharedPtr& callback_group);
 
    ServiceClientHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const rclcpp::CallbackGroup::SharedPtr& callback_group);
 
    std::optional<std::shared_ptr<typename ServiceType::Response>> callSync(const std::shared_ptr<typename ServiceType::Request>& request);
 
    std::optional<std::shared_future<std::shared_ptr<typename ServiceType::Response>>> callAsync(const std::shared_ptr<typename ServiceType::Request>& request);
 
    Task<std::optional<std::shared_ptr<typename ServiceType::Response>>> callAwaitable(std::shared_ptr<typename ServiceType::Request> request);
 
    std::string getServiceName() const;
 
    template <typename RepT = int64_t, typename RatioT = std::milli>
    bool waitForService(std::chrono::duration<RepT, RatioT> timeout = std::chrono::seconds(1));
 
    bool isServiceReady() const;
 
  private:
    class Impl;
    std::shared_ptr<Impl> impl_;
  };
 
  //}
 
} // namespace mrs_lib
 
#include <mrs_lib/impl/service_client_handler.hpp>