"""Service handler."""
# Copyright 2022 Universidad Politécnica de Madrid
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# * Redistributions in binary form must reproduce the above copyright
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# this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from rclpy.client import Client
from std_srvs.srv import SetBool
if typing.TYPE_CHECKING:
from ..drone_interface_base import DroneInterfaceBase
[docs]
class ServiceHandler:
"""Service handler class."""
TIMEOUT = 3 # seconds
def __init__(self, service_client: Client, logger) -> None:
self._service_client = service_client
# Wait for Action availability
if not service_client.wait_for_service(timeout_sec=self.TIMEOUT):
logger.error(f'{service_client.srv_name} not available')
def __call__(self, request_msg):
"""Call the service."""
return self._service_client.call(request_msg)
[docs]
class ServiceBoolHandler(ServiceHandler):
"""Service SetBool handler class."""
TIMEOUT = 3 # seconds
def __init__(self, drone: 'DroneInterfaceBase', service_name: str) -> None:
self._logger = drone.get_logger()
try:
self._service_client = drone.create_client(
SetBool, service_name)
except Exception as ex:
self._logger.error(f'Coud not create client for {service_name}')
raise ex
return super().__init__(self._service_client, self._logger)
def __call__(self, value: bool = True) -> bool:
"""Call the service."""
request = SetBool.Request()
request.data = value
response = super().__call__(request)
if not response.success:
self._logger.error('Service returned failure')
return response.success