plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/testmodels/clientServer/models/components/addClient.compdef.uml - papyrus/org.eclipse.papyrus-robotics - Git at Google

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       <body>This component models a client that adds 2 integers and receives a reply with their sum.
 It has an empty set of parameters.
 It has a port named useAdd that requires a service named &quot;AddServiceDef&quot; defined in the simple servicedef model. This model appears as loaded model in the model explorer, but not in your workspace.
 The component is mapped to a ROS2 lifecycle node and needs to be activated before it starts operating. The component has an activity that gets called when the component is activated (e.g by sending a lifecycle configure/activate request via the ros2 command line tool.)
 The function fCallAdd defines the request as a (x,y) structure and sends the request via the useAdd port in 2 possible ways:
 - in a asynchronous non-blocking way (no callback function) and next by checking to its reply after 5s;
 - by defining a callback function that it'll execute when the reply will be received.
 In both cases, the function displays the received result (or an error if the reply was not received in time).</body>
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       <body>auto request = std::make_shared&lt;
 		simple::srv::AddServiceDef::Request>();
 request->x = 2;
 request->y = 3;

 RCLCPP_INFO(get_logger(), &quot;doing request&quot;);

 // use a call in which the future is polled first
 auto result_future = useAdd_client->async_send_request(request);

 if (result_future.wait_for(std::chrono::seconds(5s)) != std::future_status::ready) {
 	RCLCPP_ERROR(get_logger(), &quot;service call failed. This happens, since the call is executed within the activation callback&quot;);
 }
 else {
 	auto result = result_future.get();
 	RCLCPP_INFO(get_logger(), &quot;result = %d&quot;, result->sum);
 }

 // now make a call referencing a callback (in a lambda)
 useAdd_client->async_send_request(request,
 	[this](
 		rclcpp::Client&lt;simple::srv::AddServiceDef>::SharedFuture arg_future) {
 			auto result = arg_future.get();
 			RCLCPP_INFO(get_logger(), &quot;result = %d&quot;, result->sum);
 		}
 );
 </body>
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	<body>This component models a client that adds 2 integers and receives a reply with their sum.
	It has an empty set of parameters.
	It has a port named useAdd that requires a service named "AddServiceDef" defined in the simple servicedef model. This model appears as loaded model in the model explorer, but not in your workspace.
	The component is mapped to a ROS2 lifecycle node and needs to be activated before it starts operating. The component has an activity that gets called when the component is activated (e.g by sending a lifecycle configure/activate request via the ros2 command line tool.)
	The function fCallAdd defines the request as a (x,y) structure and sends the request via the useAdd port in 2 possible ways:
	- in a asynchronous non-blocking way (no callback function) and next by checking to its reply after 5s;
	- by defining a callback function that it'll execute when the reply will be received.
	In both cases, the function displays the received result (or an error if the reply was not received in time).</body>
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	<language>C++</language>
	<body>auto request = std::make_shared<
	simple::srv::AddServiceDef::Request>();
	request->x = 2;
	request->y = 3;

	RCLCPP_INFO(get_logger(), "doing request");

	// use a call in which the future is polled first
	auto result_future = useAdd_client->async_send_request(request);

	if (result_future.wait_for(std::chrono::seconds(5s)) != std::future_status::ready) {
	RCLCPP_ERROR(get_logger(), "service call failed. This happens, since the call is executed within the activation callback");
	}
	else {
	auto result = result_future.get();
	RCLCPP_INFO(get_logger(), "result = %d", result->sum);
	}

	// now make a call referencing a callback (in a lambda)
	useAdd_client->async_send_request(request,
	[this](
	rclcpp::Client<simple::srv::AddServiceDef>::SharedFuture arg_future) {
	auto result = arg_future.get();
	RCLCPP_INFO(get_logger(), "result = %d", result->sum);
	}
	);
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