client_wrapper.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <string>
#include <memory>
 
#include "cyber/service/client.h"
 
namespace apollo {
namespace common {
 
template <typename Request, typename Response>
class ClientWrapper {
 public:
  ClientWrapper(const std::shared_ptr<cyber::Node>& node,
                const std::string& service_name);
  std::shared_ptr<Response> SendRequest(
      std::shared_ptr<Request> request,
      const std::chrono::seconds& timeout_s = std::chrono::seconds(5));
 
  std::shared_ptr<Response> SendRequest(
      const Request& request,
      const std::chrono::seconds& timeout_s = std::chrono::seconds(5));
 
  std::shared_future<Response> AsyncSendRequest(
      std::shared_ptr<Request> request);
 
  std::shared_future<Response> AsyncSendRequest(const Request& request);
 
  std::shared_future<Response> AsyncSendRequest(
      std::shared_ptr<Request> request,
      std::function<void(std::shared_future<std::shared_ptr<Response>>)>&& cb);
 
 private:
  std::shared_ptr<apollo::cyber::Client<Request, Response>> client_;
  std::shared_ptr<apollo::cyber::Writer<Request>> request_writer_;
};
 
template <typename Request, typename Response>
ClientWrapper<Request, Response>::ClientWrapper(
    const std::shared_ptr<cyber::Node>& node, const std::string& service_name)
    : client_(node->CreateClient<Request, Response>(service_name)),
      request_writer_(node->CreateWriter<Request>(service_name)) {}
 
template <typename Request, typename Response>
std::shared_ptr<Response> ClientWrapper<Request, Response>::SendRequest(
    std::shared_ptr<Request> request, const std::chrono::seconds& timeout_s) {
  auto response = client_->SendRequest(request);
  request_writer_->Write(request);
  return response;
}
 
template <typename Request, typename Response>
std::shared_ptr<Response> ClientWrapper<Request, Response>::SendRequest(
    const Request& request, const std::chrono::seconds& timeout_s) {
  auto response = client_->SendRequest(request);
  request_writer_->Write(request);
  return response;
}
 
template <typename Request, typename Response>
std::shared_future<Response> ClientWrapper<Request, Response>::AsyncSendRequest(
    std::shared_ptr<Request> request) {
  auto response = client_->AsyncSendRequest(request);
  request_writer_->Write(request);
  return response;
}
 
template <typename Request, typename Response>
std::shared_future<Response> ClientWrapper<Request, Response>::AsyncSendRequest(
    const Request& request) {
  auto response = client_->AsyncSendRequest(request);
  request_writer_->Write(request);
  return response;
}
 
template <typename Request, typename Response>
std::shared_future<Response> ClientWrapper<Request, Response>::AsyncSendRequest(
    std::shared_ptr<Request> request,
    std::function<void(std::shared_future<std::shared_ptr<Response>>)>&& cb) {
  auto response = client_->AsyncSendRequest(request, cb);
  request_writer_->Write(request);
  return response;
}
 
}  // namespace common
}  // namespace apollo