From f800470a07e91cd4a50789fce867b885f6fdca16 Mon Sep 17 00:00:00 2001
From: LiXiaoqi <2360211477@qq.com>
Date: Sat, 28 Sep 2024 17:49:30 +0800
Subject: [PATCH] action_server

---
 .gitignore                                 |   4 +
 src/action_test/CMakeLists.txt             |  16 ++
 src/action_test/action/Fibonacci.action    |   5 +
 src/action_test/package.xml                |  22 +++
 src/cpp_srvcli/CMakeLists.txt              |  79 ++++++++
 src/cpp_srvcli/LICENSE                     | 202 +++++++++++++++++++++
 src/cpp_srvcli/action/Fibonacci.action     |   5 +
 src/cpp_srvcli/include/cpp_srvcli/aaaa.hpp |  44 +++++
 src/cpp_srvcli/msg/Num.msg                 |   1 +
 src/cpp_srvcli/msg/Sphere.msg              |   2 +
 src/cpp_srvcli/package.xml                 |  28 +++
 src/cpp_srvcli/src/act_client.cpp          | 111 +++++++++++
 src/cpp_srvcli/src/act_server.cpp          |  99 ++++++++++
 src/cpp_srvcli/src/server.cpp              |  28 +++
 src/cpp_srvcli/src/testact.cpp             |  16 ++
 src/cpp_srvcli/srv/AddThreeInts.srv        |   5 +
 16 files changed, 667 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 src/action_test/CMakeLists.txt
 create mode 100644 src/action_test/action/Fibonacci.action
 create mode 100644 src/action_test/package.xml
 create mode 100644 src/cpp_srvcli/CMakeLists.txt
 create mode 100644 src/cpp_srvcli/LICENSE
 create mode 100644 src/cpp_srvcli/action/Fibonacci.action
 create mode 100644 src/cpp_srvcli/include/cpp_srvcli/aaaa.hpp
 create mode 100644 src/cpp_srvcli/msg/Num.msg
 create mode 100644 src/cpp_srvcli/msg/Sphere.msg
 create mode 100644 src/cpp_srvcli/package.xml
 create mode 100644 src/cpp_srvcli/src/act_client.cpp
 create mode 100644 src/cpp_srvcli/src/act_server.cpp
 create mode 100644 src/cpp_srvcli/src/server.cpp
 create mode 100644 src/cpp_srvcli/src/testact.cpp
 create mode 100644 src/cpp_srvcli/srv/AddThreeInts.srv

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ab20d13
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+.vscode
+build
+log
+install
diff --git a/src/action_test/CMakeLists.txt b/src/action_test/CMakeLists.txt
new file mode 100644
index 0000000..709309f
--- /dev/null
+++ b/src/action_test/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.8)
+project(action_test)
+set(CMAKE_BUILD_TYPE Debug)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Fibonacci.action"
+)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+
+ament_package()
diff --git a/src/action_test/action/Fibonacci.action b/src/action_test/action/Fibonacci.action
new file mode 100644
index 0000000..32b18f2
--- /dev/null
+++ b/src/action_test/action/Fibonacci.action
@@ -0,0 +1,5 @@
+int32 order
+---
+int32[] sequence
+---
+int32[] partial_sequence
\ No newline at end of file
diff --git a/src/action_test/package.xml b/src/action_test/package.xml
new file mode 100644
index 0000000..6323510
--- /dev/null
+++ b/src/action_test/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>action_test</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>action_msgs</depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/cpp_srvcli/CMakeLists.txt b/src/cpp_srvcli/CMakeLists.txt
new file mode 100644
index 0000000..1bffbd8
--- /dev/null
+++ b/src/cpp_srvcli/CMakeLists.txt
@@ -0,0 +1,79 @@
+cmake_minimum_required(VERSION 3.8)
+project(cpp_srvcli)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+set(CMAKE_BUILD_TYPE Debug)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(action_test REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Num.msg"
+  "msg/Sphere.msg"
+  "srv/AddThreeInts.srv"
+  DEPENDENCIES geometry_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+
+
+# add_executable(server src/server.cpp)
+# ament_target_dependencies(server rclcpp example_interfaces)
+
+# action
+add_library(action_server SHARED src/act_server.cpp)
+target_include_directories(action_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(action_server
+  PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
+ament_target_dependencies(action_server
+  "action_test"
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components")
+rclcpp_components_register_node(action_server PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE act_server)
+
+# install(
+#   TARGETS
+#   server
+#   DESTINATION lib/${PROJECT_NAME}
+# )
+add_library(action_client SHARED
+  src/act_client.cpp)
+target_include_directories(action_client PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(action_client
+  PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
+ament_target_dependencies(action_client
+  "action_test"
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components")
+rclcpp_components_register_node(action_client PLUGIN "action_tutorials_cpp::FibonacciActionClient" EXECUTABLE act_client)
+
+# add_executable(testact src/testact.cpp)
+# target_include_directories(testact PRIVATE
+#   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+#   $<INSTALL_INTERFACE:include>)
+# ament_target_dependencies(testact
+#   "rclcpp"
+#   "rclcpp_action")
+
+
+install(TARGETS
+  action_server
+  action_client
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+ament_package()
diff --git a/src/cpp_srvcli/LICENSE b/src/cpp_srvcli/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/src/cpp_srvcli/LICENSE
@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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diff --git a/src/cpp_srvcli/action/Fibonacci.action b/src/cpp_srvcli/action/Fibonacci.action
new file mode 100644
index 0000000..32b18f2
--- /dev/null
+++ b/src/cpp_srvcli/action/Fibonacci.action
@@ -0,0 +1,5 @@
+int32 order
+---
+int32[] sequence
+---
+int32[] partial_sequence
\ No newline at end of file
diff --git a/src/cpp_srvcli/include/cpp_srvcli/aaaa.hpp b/src/cpp_srvcli/include/cpp_srvcli/aaaa.hpp
new file mode 100644
index 0000000..077b967
--- /dev/null
+++ b/src/cpp_srvcli/include/cpp_srvcli/aaaa.hpp
@@ -0,0 +1,44 @@
+#ifndef ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
+#define ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((dllexport))
+    #define ACTION_TUTORIALS_CPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ACTION_TUTORIALS_CPP_EXPORT __declspec(dllexport)
+    #define ACTION_TUTORIALS_CPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ACTION_TUTORIALS_CPP_BUILDING_DLL
+    #define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_EXPORT
+  #else
+    #define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_IMPORT
+  #endif
+  #define ACTION_TUTORIALS_CPP_PUBLIC_TYPE ACTION_TUTORIALS_CPP_PUBLIC
+  #define ACTION_TUTORIALS_CPP_LOCAL
+#else
+  #define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((visibility("default")))
+  #define ACTION_TUTORIALS_CPP_IMPORT
+  #if __GNUC__ >= 4
+    #define ACTION_TUTORIALS_CPP_PUBLIC __attribute__ ((visibility("default")))
+    #define ACTION_TUTORIALS_CPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ACTION_TUTORIALS_CPP_PUBLIC
+    #define ACTION_TUTORIALS_CPP_LOCAL
+  #endif
+  #define ACTION_TUTORIALS_CPP_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
\ No newline at end of file
diff --git a/src/cpp_srvcli/msg/Num.msg b/src/cpp_srvcli/msg/Num.msg
new file mode 100644
index 0000000..5a7c026
--- /dev/null
+++ b/src/cpp_srvcli/msg/Num.msg
@@ -0,0 +1 @@
+int64 num
\ No newline at end of file
diff --git a/src/cpp_srvcli/msg/Sphere.msg b/src/cpp_srvcli/msg/Sphere.msg
new file mode 100644
index 0000000..5a43e79
--- /dev/null
+++ b/src/cpp_srvcli/msg/Sphere.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Point center
+float64 radius
\ No newline at end of file
diff --git a/src/cpp_srvcli/package.xml b/src/cpp_srvcli/package.xml
new file mode 100644
index 0000000..b9b5c1a
--- /dev/null
+++ b/src/cpp_srvcli/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cpp_srvcli</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>example_interfaces</depend>
+  <depend>action_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/cpp_srvcli/src/act_client.cpp b/src/cpp_srvcli/src/act_client.cpp
new file mode 100644
index 0000000..ffbdb2f
--- /dev/null
+++ b/src/cpp_srvcli/src/act_client.cpp
@@ -0,0 +1,111 @@
+#include <functional>
+#include <future>
+#include <memory>
+#include <string>
+#include <sstream>
+
+#include "action_test/action/fibonacci.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+namespace action_tutorials_cpp
+{
+class FibonacciActionClient : public rclcpp::Node
+{
+public:
+  using Fibonacci = action_test::action::Fibonacci;
+  using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
+
+  explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
+  : Node("fibonacci_action_client", options)
+  {
+    this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
+      this,
+      "fibonacci");
+
+    this->timer_ = this->create_wall_timer(
+      std::chrono::milliseconds(500),
+      std::bind(&FibonacciActionClient::send_goal, this));
+  }
+
+  void send_goal()
+  {
+    using namespace std::placeholders;
+
+    this->timer_->cancel();
+
+    if (!this->client_ptr_->wait_for_action_server()) {
+      RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
+      rclcpp::shutdown();
+    }
+
+    auto goal_msg = Fibonacci::Goal();
+    goal_msg.order = 10;
+
+    RCLCPP_INFO(this->get_logger(), "Sending goal");
+
+    auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
+    send_goal_options.goal_response_callback =
+      std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
+    send_goal_options.feedback_callback =
+      std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
+    send_goal_options.result_callback =
+      std::bind(&FibonacciActionClient::result_callback, this, _1);
+    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
+  }
+
+private:
+  rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  void goal_response_callback(const GoalHandleFibonacci::SharedPtr & goal_handle)
+  {
+    if (!goal_handle) {
+      RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
+    } else {
+      RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
+    }
+  }
+
+  void feedback_callback(
+    GoalHandleFibonacci::SharedPtr,
+    const std::shared_ptr<const Fibonacci::Feedback> feedback)
+  {
+    std::stringstream ss;
+    ss << "Next number in sequence received: ";
+    for (auto number : feedback->partial_sequence) {
+      ss << number << " ";
+    }
+    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+  }
+
+  void result_callback(const GoalHandleFibonacci::WrappedResult & result)
+  {
+    switch (result.code) {
+      case rclcpp_action::ResultCode::SUCCEEDED:
+        break;
+      case rclcpp_action::ResultCode::ABORTED:
+        RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
+        return;
+      case rclcpp_action::ResultCode::CANCELED:
+        RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
+        return;
+      default:
+        RCLCPP_ERROR(this->get_logger(), "Unknown result code");
+        return;
+    }
+    std::stringstream ss;
+    ss << "Result received: ";
+    for (auto number : result.result->sequence) {
+      ss << number << " ";
+    }
+    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    rclcpp::shutdown();
+  }
+};  // class FibonacciActionClient
+
+}  // namespace action_tutorials_cpp
+
+RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionClient)
\ No newline at end of file
diff --git a/src/cpp_srvcli/src/act_server.cpp b/src/cpp_srvcli/src/act_server.cpp
new file mode 100644
index 0000000..31f757e
--- /dev/null
+++ b/src/cpp_srvcli/src/act_server.cpp
@@ -0,0 +1,99 @@
+#include <functional>
+#include <memory>
+#include <thread>
+
+#include "action_test/action/fibonacci.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+#include "cpp_srvcli/aaaa.hpp"
+
+namespace action_tutorials_cpp
+{
+class FibonacciActionServer : public rclcpp::Node
+{
+public:
+  using Fibonacci = action_test::action::Fibonacci;
+  using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
+
+  ACTION_TUTORIALS_CPP_PUBLIC
+  explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
+  : Node("fibonacci_action_server", options)
+  {
+    using namespace std::placeholders;
+
+    this->action_server_ = rclcpp_action::create_server<Fibonacci>(
+      this,
+      "fibonacci",
+      std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
+      std::bind(&FibonacciActionServer::handle_cancel, this, _1),
+      std::bind(&FibonacciActionServer::handle_accepted, this, _1));
+  }
+
+private:
+  rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;
+
+  rclcpp_action::GoalResponse handle_goal(
+    const rclcpp_action::GoalUUID & uuid,
+    std::shared_ptr<const Fibonacci::Goal> goal)
+  {
+    RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
+    (void)uuid;
+    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+  }
+
+  rclcpp_action::CancelResponse handle_cancel(
+    const std::shared_ptr<GoalHandleFibonacci> goal_handle)
+  {
+    RCLCPP_INFO(this->get_logger(), "Received request to cancel goal");
+    (void)goal_handle;
+    return rclcpp_action::CancelResponse::ACCEPT;
+  }
+
+  void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
+  {
+    using namespace std::placeholders;
+    // this needs to return quickly to avoid blocking the executor, so spin up a new thread
+    std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
+  }
+
+  void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
+  {
+    RCLCPP_INFO(this->get_logger(), "Executing goal");
+    rclcpp::Rate loop_rate(1);
+    const auto goal = goal_handle->get_goal();
+    auto feedback = std::make_shared<Fibonacci::Feedback>();
+    auto & sequence = feedback->partial_sequence;
+    sequence.push_back(0);
+    sequence.push_back(1);
+    auto result = std::make_shared<Fibonacci::Result>();
+
+    for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
+      // Check if there is a cancel request
+      if (goal_handle->is_canceling()) {
+        result->sequence = sequence;
+        goal_handle->canceled(result);
+        RCLCPP_INFO(this->get_logger(), "Goal canceled");
+        return;
+      }
+      // Update sequence
+      sequence.push_back(sequence[i] + sequence[i - 1]);
+      // Publish feedback
+      goal_handle->publish_feedback(feedback);
+      RCLCPP_INFO(this->get_logger(), "Publish feedback");
+
+      loop_rate.sleep();
+    }
+
+    // Check if goal is done
+    if (rclcpp::ok()) {
+      result->sequence = sequence;
+      goal_handle->succeed(result);
+      RCLCPP_INFO(this->get_logger(), "Goal succeeded");
+    }
+  }
+};  // class FibonacciActionServer
+
+}  // namespace action_tutorials_cpp
+
+RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionServer)
\ No newline at end of file
diff --git a/src/cpp_srvcli/src/server.cpp b/src/cpp_srvcli/src/server.cpp
new file mode 100644
index 0000000..43ca4d5
--- /dev/null
+++ b/src/cpp_srvcli/src/server.cpp
@@ -0,0 +1,28 @@
+#include "rclcpp/rclcpp.hpp"
+#include "example_interfaces/srv/add_two_ints.hpp"
+
+#include <memory>
+
+void add(const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request> request,
+          std::shared_ptr<example_interfaces::srv::AddTwoInts::Response>      response)
+{
+  response->sum = request->a + request->b;
+  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Incoming request\na: %ld" " b: %ld",
+                request->a, request->b);
+  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "sending back response: [%ld]", (long int)response->sum);
+}
+
+int main(int argc, char **argv)
+{
+  rclcpp::init(argc, argv);
+
+  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_ints_server");
+
+  rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service =
+    node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add);
+
+  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two ints.");
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+}
\ No newline at end of file
diff --git a/src/cpp_srvcli/src/testact.cpp b/src/cpp_srvcli/src/testact.cpp
new file mode 100644
index 0000000..add345b
--- /dev/null
+++ b/src/cpp_srvcli/src/testact.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include "rclcpp/rclcpp.hpp"
+#include <rclcpp_action/rclcpp_action.hpp>
+#include "rosidl_runtime_c/action_type_support_struct.h"
+using namespace std;
+
+int main() {
+
+    auto ts = ROSIDL_GET_ACTION_TYPE_SUPPORT("action_test", "Fibonacci");
+    if (ts == nullptr) {
+        cout << "ts is null" << endl;
+    } else {
+        cout << "ts is not null" << endl;
+    }
+
+}
\ No newline at end of file
diff --git a/src/cpp_srvcli/srv/AddThreeInts.srv b/src/cpp_srvcli/srv/AddThreeInts.srv
new file mode 100644
index 0000000..9bf1218
--- /dev/null
+++ b/src/cpp_srvcli/srv/AddThreeInts.srv
@@ -0,0 +1,5 @@
+int64 a
+int64 b
+int64 c
+---
+int64 sum
\ No newline at end of file