15 #ifndef RCLCPP__CLIENT_HPP_ 16 #define RCLCPP__CLIENT_HPP_ 43 namespace node_interfaces
45 class NodeBaseInterface;
59 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
63 virtual ~ClientBase();
67 get_service_name()
const;
71 get_client_handle()
const;
75 service_is_ready()
const;
77 template<
typename RatioT = std::milli>
82 return wait_for_service_nanoseconds(
83 std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
89 virtual void handle_response(
101 get_rcl_node_handle()
const;
110 template<
typename ServiceT>
132 rclcpp::node_interfaces::NodeBaseInterface * node_base,
133 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
134 const
std::
string & service_name,
136 : ClientBase(node_base, node_graph, service_name)
138 using rosidl_typesupport_cpp::get_service_type_support_handle;
139 auto service_type_support_handle =
140 get_service_type_support_handle<ServiceT>();
142 service_type_support_handle, service_name.c_str(), &client_options) !=
RCL_RET_OK)
180 int64_t sequence_number = request_header->sequence_number;
182 if (this->pending_requests_.count(sequence_number) == 0) {
183 fprintf(stderr,
"Received invalid sequence number. Ignoring...\n");
186 auto tuple = this->pending_requests_[sequence_number];
187 auto call_promise = std::get<0>(tuple);
188 auto callback = std::get<1>(tuple);
189 auto future = std::get<2>(tuple);
190 this->pending_requests_.erase(sequence_number);
191 call_promise->set_value(typed_response);
198 return async_send_request(request, [](
SharedFuture) {});
214 int64_t sequence_number;
224 pending_requests_[sequence_number] =
244 auto wrapping_cb = [future_with_request, promise, request, &cb](
SharedFuture future) {
245 auto response = future.
get();
247 cb(future_with_request);
250 async_send_request(request, wrapping_cb);
252 return future_with_request;
265 #endif // RCLCPP__CLIENT_HPP_ SharedFuture async_send_request(SharedRequest request)
Definition: client.hpp:196
typename rcl_interfaces::srv::GetParameters ::Response::SharedPtr SharedResponse
Definition: client.hpp:115
SharedFutureWithRequest async_send_request(SharedRequest request, CallbackT &&cb)
Definition: client.hpp:239
virtual ~Client()
Definition: client.hpp:152
Definition: client.hpp:111
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
std::shared_ptr< void > create_response()
Definition: client.hpp:161
Definition: allocator_common.hpp:24
rcl_ret_t rcl_send_request(const rcl_client_t *client, const void *ros_request, int64_t *sequence_number)
const char * rmw_get_error_string_safe(void)
SharedFuture async_send_request(SharedRequest request, CallbackT &&cb)
Definition: client.hpp:211
void handle_response(std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response)
Definition: client.hpp:175
rcl_ret_t rcl_client_init(rcl_client_t *client, const rcl_node_t *node, const rosidl_service_type_support_t *type_support, const char *service_name, const rcl_client_options_t *options)
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
Definition: function_traits.hpp:141
Definition: client.hpp:51
T static_pointer_cast(T... args)
#define rcl_get_error_string_safe
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
Definition: macros.hpp:51
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
std::shared_ptr< rcl_node_t > node_handle_
Definition: client.hpp:104
bool wait_for_service(std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))
Definition: client.hpp:79
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_
Definition: client.hpp:103
rcl_client_t rcl_get_zero_initialized_client(void)
rcl_ret_t rcl_client_fini(rcl_client_t *client, rcl_node_t *node)
std::string service_name_
Definition: client.hpp:107
std::shared_ptr< rmw_request_id_t > create_request_header()
Definition: client.hpp:167
typename rcl_interfaces::srv::GetParameters ::Request::SharedPtr SharedRequest
Definition: client.hpp:114