get_capability_specs_runner.hpp

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#pragma once
 
#include <capabilities2_runner/service_runner.hpp>
#include <capabilities2_msgs/srv/get_capability_specs.hpp>
 
namespace capabilities2_runner
{
 
class GetCapabilitySpecsRunner : public ServiceRunner<capabilities2_msgs::srv::GetCapabilitySpecs>
{
public:
  GetCapabilitySpecsRunner() : ServiceRunner()
  {
  }
 
  virtual void start(rclcpp::Node::SharedPtr node, const runner_opts& run_config, const std::string& bond_id) override
  {
    init_service(node, run_config, "/capabilities/get_capability_specs");
 
    // emit start event
    emit_started(bond_id, "", param_on_started());
  }
 
protected:
  virtual capabilities2_msgs::srv::GetCapabilitySpecs::Request
  generate_request(capabilities2_events::EventParameters& parameters) override
  {
    capabilities2_msgs::srv::GetCapabilitySpecs::Request request;
    return request;
  }
 
  virtual capabilities2_events::EventParameters param_on_success() override
  {
    // Create an Event Parameter with CapabilitySpecs content
    std::vector<std::string> capability_spec_strings;
    for (const auto& spec : response_->capability_specs)
    {
      std::string spec_string = "package: " + spec.package + ", type: " + spec.type +
                                ", default_provider: " + spec.default_provider + ", content: " + spec.content;
      capability_spec_strings.push_back(spec_string);
    }
 
    // Create EventParameters and set the capability specs as a parameter for the on_success event
    capabilities2_events::EventParameters parameters;
    parameters.set_value("CapabilitySpecs", capability_spec_strings, capabilities2_events::OptionType::VECTOR_STRING);
 
    RCLCPP_INFO(node_->get_logger(), "GetCapabilitySpecsRunner creating param_on_success with %zu capability specs", capability_spec_strings.size());
 
    return parameters;
  }
 
  virtual void process_response(typename capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response) override
  {
    // This function can be used to log the response or perform any additional processing if needed
    RCLCPP_INFO(node_->get_logger(), "GetCapabilitySpecsRunner received response with %zu capability specs", response->capability_specs.size());
  }
};
 
}  // namespace capabilities2_runner