From de535b2ee2143ffc7c1d1f0827dea2b72ab6dc09 Mon Sep 17 00:00:00 2001
From: Wessel Tip <wessel@go2it.eu>
Date: Thu, 11 Sep 2025 11:08:00 +0200
Subject: [PATCH] feat(les2): Turn service into vector calculator

---
 src/les_interface/CMakeLists.txt              |  2 +-
 .../{ServiceStudent.srv => ServiceVec.srv}    |  8 ++--
 src/les_pkg/src/les2/service_client.cpp       | 21 +++++-----
 src/les_pkg/src/les2/service_server.cpp       | 38 ++++++++++---------
 4 files changed, 39 insertions(+), 30 deletions(-)
 rename src/les_interface/srv/{ServiceStudent.srv => ServiceVec.srv} (70%)

diff --git a/src/les_interface/CMakeLists.txt b/src/les_interface/CMakeLists.txt
index 8379aad..f423e82 100644
--- a/src/les_interface/CMakeLists.txt
+++ b/src/les_interface/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HardwareStatus.msg"
-  "srv/ServiceStudent.srv"
+  "srv/ServiceVec.srv"
 )
 ament_export_dependencies(rosidl_default_runtime)
 # uncomment the following section in order to fill in
diff --git a/src/les_interface/srv/ServiceStudent.srv b/src/les_interface/srv/ServiceVec.srv
similarity index 70%
rename from src/les_interface/srv/ServiceStudent.srv
rename to src/les_interface/srv/ServiceVec.srv
index 2741f9f..d01f81a 100644
--- a/src/les_interface/srv/ServiceStudent.srv
+++ b/src/les_interface/srv/ServiceVec.srv
@@ -1,7 +1,9 @@
-# Student info service message
-string sname
+# Vector length calculation service message
+float64 x
+float64 y
+float64 z
 ---
-int32 snumber
+float64 vec_len
 
 ## format  <type> <name> <optional_default_value>
 ##primitive message types
diff --git a/src/les_pkg/src/les2/service_client.cpp b/src/les_pkg/src/les2/service_client.cpp
index 891142c..747672e 100644
--- a/src/les_pkg/src/les2/service_client.cpp
+++ b/src/les_pkg/src/les2/service_client.cpp
@@ -10,17 +10,17 @@
 #include <chrono>
 #include "rclcpp/rclcpp.hpp"
 
-#include "les_interface/srv/service_student.hpp"
+#include "les_interface/srv/service_vec.hpp"
 
 using namespace std::chrono;
-using les_interface::srv::ServiceStudent;
+using les_interface::srv::ServiceVec;
 
 class NodeLes2ServiceClient : public rclcpp::Node {
 public:
 	NodeLes2ServiceClient()
 	: Node("node_les2_service_client")
 	{
-		client_ = this->create_client<ServiceStudent>("student_service_server");
+		client_ = this->create_client<ServiceVec>("vec_service_server");
 		timer_ = this->create_wall_timer(
 			seconds(3),
       std::bind(&NodeLes2ServiceClient::send_request, this)
@@ -34,25 +34,28 @@ private:
 			return;
 		}
 
-		auto request = std::make_shared<ServiceStudent::Request>();
-		request->sname = "Wessel";
+		auto request = std::make_shared<ServiceVec::Request>();
+    request->x = rand() % 100;
+    request->y = rand() % 100;
+    request->z = rand() % 100;
 
 		auto future = client_->async_send_request(request,
 			std::bind(&NodeLes2ServiceClient::handle_response, this, std::placeholders::_1)
     );
 	}
 
-	void handle_response(rclcpp::Client<ServiceStudent>::SharedFuture future) {
+	void handle_response(rclcpp::Client<ServiceVec>::SharedFuture future) {
 		auto response = future.get();
-		RCLCPP_INFO(this->get_logger(), "Received student id: %ld", response->snumber);
+		RCLCPP_INFO(this->get_logger(), "Received vec len: %.6lf", response->vec_len);
 	}
 
-	rclcpp::Client<ServiceStudent>::SharedPtr client_;
+	rclcpp::Client<ServiceVec>::SharedPtr client_;
 	rclcpp::TimerBase::SharedPtr timer_;
 };
 
 int main(int argc, char **argv) {
-	rclcpp::init(argc, argv);
+  srand(time(NULL));
+  rclcpp::init(argc, argv);
 
 	auto node = std::make_shared<NodeLes2ServiceClient>();
 	rclcpp::spin(node);
diff --git a/src/les_pkg/src/les2/service_server.cpp b/src/les_pkg/src/les2/service_server.cpp
index df12d79..2857b73 100644
--- a/src/les_pkg/src/les2/service_server.cpp
+++ b/src/les_pkg/src/les2/service_server.cpp
@@ -1,28 +1,29 @@
-/* node_template.cpp
- * Basic node template for ROS2
+/* les2service_server.cpp
+ * Basic example of a service server node.
  *
  * Reviewed by: <x>
  * Changelog:
  * [04-09-2025] Wessel T: Implement template
+ * [11-09-2025] Wessel T: (BASE) Working service client
  */
 
 #include <cstdlib>
 #include "rclcpp/rclcpp.hpp"
 
-#include "les_interface/srv/service_vector.hpp"
+#include "les_interface/srv/service_vec.hpp"
 
-using les_interface::srv::ServiceStudent;
+using les_interface::srv::ServiceVec;
 
 class NodeLes2ServiceServer : public rclcpp::Node {
 public:
   NodeLes2ServiceServer()
   : Node("node_les2_service_server")
   {
-    student_service_server_ =
-      this->create_service<ServiceStudent>(
-        "student_service_server",
+    vec_service_server_ =
+      this->create_service<ServiceVec>(
+        "vec_service_server",
         std::bind(
-          &NodeLes2ServiceServer::callback_student_service,
+          &NodeLes2ServiceServer::callback_service,
           this,
           std::placeholders::_1,
           std::placeholders::_2
@@ -32,19 +33,22 @@ public:
     RCLCPP_INFO(this->get_logger(), "Service Server started");
   }
 
-  void callback_student_service(
-    const ServiceStudent::Request::SharedPtr request,
-    ServiceStudent::Response::SharedPtr response
+  void callback_service(
+    const ServiceVec::Request::SharedPtr request,
+    ServiceVec::Response::SharedPtr response
   ) {
-    if (request->sname == "Tilmann") {
-      response->snumber = 666;
-    } else {
-      response->snumber = 42;
-    }
+    response->vec_len = sqrt(
+      pow(request->x, 2) + pow(request->y, 2) + pow(request->z, 2)
+    );
+
+    RCLCPP_INFO(this->get_logger(),
+      "sqrt(pow(%.6lf), pow(%.6lf), pow(%.6lf))=%.6lf",
+      request->x, request->y, request->z, response->vec_len
+    );
   }
 
 private:
-  rclcpp::Service<ServiceStudent>::SharedPtr student_service_server_;
+  rclcpp::Service<ServiceVec>::SharedPtr vec_service_server_;
 };
 
 int main(int argc, char *argv[]) {