service call example created
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@ -36,6 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/CustomMsg1.msg"
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"msg/CustomMsg2.msg"
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"srv/CustomSrv1.srv"
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"srv/StateMachineSrv.srv"
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DEPENDENCIES builtin_interfaces
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)
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4
src/custom_interfaces/srv/StateMachineSrv.srv
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4
src/custom_interfaces/srv/StateMachineSrv.srv
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string command
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float32 value
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---
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bool success
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@ -117,6 +117,7 @@ class MinimalServiceProvider(Node):
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self.SRV_TYPE = SRV_TYPE
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# Init above laying class "Node"
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super().__init__(self.NODE_NAME)
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print("\tStarting Service Host:\t%s"%(self.SRV_NAME))
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self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.service_callback)
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def service_callback(self, request, response):
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@ -124,23 +125,31 @@ class MinimalServiceProvider(Node):
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* request: first half of srv-file
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* response: second half of srv-file
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access values using:
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* request.<name>
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* response.<name>
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access values using class access:
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* request.var_name
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* response.var_name
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"""
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self.get_logger().info("Service Call received")
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self.get_logger().info("[srv: %s] Service Call Received"%(self.SRV_NAME))
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# Abstraction layer:
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response = self.user_defined(request, response) # Function defined below
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return response
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# Insert your callback code here
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def user_defined(self, request, response):
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""" Write your user defined code here which will be run at every service call
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Input:
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* request: srv request class
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Return:
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* response: srv response class
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Access these variables using class access, eg. request.var_name
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"""
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# Write user defined code here
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# Adapt to fit your service type
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response.success = True
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# You could overwrite this fdunctions with a new function when initializing this class
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response.success = True # Change this to fit your service type
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return response
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@ -153,10 +162,12 @@ class MinimalServiceClientAsync(Node):
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self.SRV_TYPE = SRV_TYPE
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# Init above laying class "Node"
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super().__init__(self.NODE_NAME)
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print("Starting Service Client:\t%s"%(self.SRV_NAME))
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self.srv_client = self.create_client(self.SRV_TYPE, self.SRV_NAME)
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while not self.srv_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('service not available, waiting again...')
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self.request = self.SRV_TYPE.Request()
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self.done_was_true = False
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def send_request(self, request):
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"""
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@ -166,6 +177,7 @@ class MinimalServiceClientAsync(Node):
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* request.<var_name> = ....
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"""
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self.request = request
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self.done_was_true = False
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self.future = self.srv_client.call_async(self.request)
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def check_if_service_complete(self):
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@ -179,12 +191,11 @@ class MinimalServiceClientAsync(Node):
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try:
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response = self.future.result()
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except Exception as e:
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self.get_logger().info(
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'Service call failed %r' % (e,))
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self.get_logger().info('Service call failed %r' % (e,))
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else:
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pass
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# Adapt to fit service type
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# Adapt to fit your custom service type
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# self.get_logger().info('Result of add_three_ints: for %d + %d + %d = %d' %(minimal_client.req.a, minimal_client.req.b, minimal_client.req.c, response.sum))
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return self.future.done(), response
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return self.future.done(), response # response is of type "<service_type_name>.Response()"
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else:
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return self.future.done(), None
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@ -10,12 +10,16 @@ import pubsub.pubsub_library_v3 as lib
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def main(args=None):
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rclpy.init(args=args)
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minimal_service = lib.MinimalServiceProvider(NODE_NAME="Service_Host_Test", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
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minimal_service = lib.MinimalServiceProvider(NODE_NAME="Srv_host_test_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
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while rclpy.ok():
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try:
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rclpy.spin_once(minimal_service, timeout_sec=0.1)
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# Either the scripts checks to see if new srv calls are available to work off,
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# or you implement this work inside the class
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# pro/cons: abstraction is at a maximum, every further level is already too specific for the general task
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except (KeyboardInterrupt, SystemExit):
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print("\n\nShutting down...")
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49
src/pubsub/pubsub/statemachine_client_example.py
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src/pubsub/pubsub/statemachine_client_example.py
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import rclpy
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from rclpy.node import Node
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import pubsub.pubsub_library_v3 as lib
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# Service Type Files
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from custom_interfaces.srv import StateMachineSrv
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def main(args=None):
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rclpy.init(args=args)
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client_cmd_srv = lib.MinimalServiceClientAsync(NODE_NAME="client_cmd_srv_node", SRV_NAME="cmd", SRV_TYPE=StateMachineSrv)
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# Create request
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srv_request = StateMachineSrv.Request()
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srv_request.command = "c"
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srv_request.value = 42.0
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print("Sending Service Request...")
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client_cmd_srv.send_request(srv_request)
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while rclpy.ok():
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try:
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rclpy.spin_once(client_cmd_srv, timeout_sec=0.1)
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# Check request
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if client_cmd_srv.done_was_true == False:
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done, response = client_cmd_srv.check_if_service_complete()
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if done:
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client_cmd_srv.done_was_true = True
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print("'done': %s"%(done))
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print("'resp.success': %s"%(response.success))
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else:
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print("Service not complete")
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rclpy.spin_once(client_cmd_srv, timeout_sec=0.1)
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srv_request.command = "a"
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client_cmd_srv.send_request(srv_request)
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except (KeyboardInterrupt, SystemExit):
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print("\n\nShutting down...")
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client_cmd_srv .destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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52
src/pubsub/pubsub/statemachine_host_example.py
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52
src/pubsub/pubsub/statemachine_host_example.py
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import rclpy
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from rclpy.node import Node
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import pubsub.pubsub_library_v3 as lib
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# Service Type Files
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from custom_interfaces.srv import StateMachineSrv
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class StateMachineCMDServiceProvider(lib.MinimalServiceProvider):
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def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
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self.NODE_NAME = NODE_NAME
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self.SRV_NAME = SRV_NAME
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self.SRV_TYPE = SRV_TYPE
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# Init above laying class "Node"
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super().__init__(self.NODE_NAME, self.SRV_NAME, self.SRV_TYPE)
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def user_defined(self, request, response):
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# StateMachine Code
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print("Command: %s"%(request.command))
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print("Value: %f"%(request.value))
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if request.command == "c":
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response.success = False
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else:
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response.success = True
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return response
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def main(args=None):
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rclpy.init(args=args)
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recv_cmd_srv = StateMachineCMDServiceProvider(NODE_NAME="statemachine_cmd_srv_node", SRV_NAME="cmd", SRV_TYPE=StateMachineSrv)
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while rclpy.ok():
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try:
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rclpy.spin_once(recv_cmd_srv, timeout_sec=0.1)
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# Either the scripts checks to see if new srv calls are available to work off,
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# or you implement this work inside the class
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# pro/cons: abstraction is at a maximum, every further level is already too specific for the general task
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except (KeyboardInterrupt, SystemExit):
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print("\n\nShutting down...")
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recv_cmd_srv.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'talker = pubsub.talker:main',
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'listener = pubsub.listener:main',
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'talker = pubsub.topic_talker:main',
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'listener = pubsub.topic_listener:main',
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'srvhost = pubsub.service_host:main',
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'srvclient = pubsub.service_client:main'
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'srvclient = pubsub.service_client:main',
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'smhost = pubsub.statemachine_host_example:main',
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'smclient = pubsub.statemachine_client_example:main'
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],
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},
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)
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