Source code for as2_python_api.service_clients.service_handler

"""Service handler."""

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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