ros2_tracing/tracetools_test/src/test_service_ping.cpp
2019-06-19 15:46:44 +02:00

86 lines
2.4 KiB
C++

// Copyright 2019 Robert Bosch GmbH
//
// 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 <memory>
#include <chrono>
#include "rclcpp/rclcpp.hpp"
#include "std_srvs/srv/empty.hpp"
using namespace std::chrono_literals;
#define NODE_NAME "test_service_ping"
#define SERVICE_NAME "pong"
#define CLIENT_NAME "ping"
class PingNode : public rclcpp::Node
{
public:
explicit PingNode(rclcpp::NodeOptions options)
: Node(NODE_NAME, options)
{
srv_ = this->create_service<std_srvs::srv::Empty>(
SERVICE_NAME,
std::bind(
&PingNode::service_callback,
this,
std::placeholders::_1,
std::placeholders::_2,
std::placeholders::_3));
client_ = this->create_client<std_srvs::srv::Empty>(
CLIENT_NAME);
timer_ = this->create_wall_timer(
500ms,
std::bind(&PingNode::timer_callback, this));
}
private:
void service_callback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
{
(void)request_header;
(void)request;
(void)response;
RCLCPP_INFO(this->get_logger(), "got request");
rclcpp::shutdown();
}
void timer_callback()
{
auto req = std::make_shared<std_srvs::srv::Empty::Request>();
client_->async_send_request(req);
}
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor exec;
auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
exec.add_node(ping_node);
printf("spinning\n");
exec.spin();
// Will actually be called inside the node's service callback
rclcpp::shutdown();
return 0;
}