| <?xml version="1.0" encoding="UTF-8"?> |
| <xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:C_Cpp="http://www.eclipse.org/papyrus/C_Cpp/1" xmlns:Transformation="http://www.eclipse.org/papyrus/Transformation/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.components="http://www.eclipse.org/papyrus/robotics/components/1" xmlns:robotics.functions="http://www.eclipse.org/papyrus/robotics/functions/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.parameters="http://www.eclipse.org/papyrus/robotics/parameters/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/components/1 http://www.eclipse.org/papyrus/robotics/1#//components http://www.eclipse.org/papyrus/robotics/functions/1 http://www.eclipse.org/papyrus/robotics/1#//functions http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters"> |
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| <packageImport xmi:type="uml:PackageImport" xmi:id="_lwxc0ExOEei_Sui04GqxlQ"> |
| <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/> |
| </packageImport> |
| <packageImport xmi:type="uml:PackageImport" xmi:id="_vPI0sExOEei_Sui04GqxlQ"> |
| <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/> |
| </packageImport> |
| <packageImport xmi:type="uml:PackageImport" xmi:id="_VwyNkPV1EemSEqXywHKEEA"> |
| <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_TESTMODELS/simple.servicedef.uml#_6nSQsEfEEeiwO_ETU0BG9A"/> |
| </packageImport> |
| <packagedElement xmi:type="uml:Class" xmi:id="_-9MoUEiFEeiAtInRNnLmIQ" name="AddClient"> |
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| <nestedClassifier xmi:type="uml:Class" xmi:id="_DNyKEHX0EeirHb2XH36K_A" name="CallAdd"> |
| <generalization xmi:type="uml:Generalization" xmi:id="_DN1NYHX0EeirHb2XH36K_A"> |
| <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/> |
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| <nestedClassifier xmi:type="uml:Class" xmi:id="_ZYcQwPV1EemSEqXywHKEEA"/> |
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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, timeout?"); |
| } |
| 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); |
| } |
| ); |
| </body> |
| </packagedElement> |
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| <supplier xmi:type="uml:Interface" href="pathmap://ROS2_TESTMODELS/simple.servicedef.uml#_aTuOIHoWEeif1855zzC59A"/> |
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