15 #ifndef RCLCPP__SERVICE_HPP_ 16 #define RCLCPP__SERVICE_HPP_ 48 std::shared_ptr<rcl_node_t> node_handle,
49 const std::string & service_name);
53 std::shared_ptr<rcl_node_t> node_handle);
69 std::shared_ptr<rmw_request_id_t> request_header,
70 std::shared_ptr<void> request) = 0;
88 template<
typename ServiceT>
94 const std::shared_ptr<typename ServiceT::Request>,
95 std::shared_ptr<typename ServiceT::Response>)>;
99 const std::shared_ptr<rmw_request_id_t>,
100 const std::shared_ptr<typename ServiceT::Request>,
101 std::shared_ptr<typename ServiceT::Response>)>;
106 const
std::
string & service_name,
109 :
ServiceBase(node_handle, service_name), any_callback_(any_callback)
111 using rosidl_typesupport_cpp::get_service_type_support_handle;
112 auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
121 service_type_support_handle,
122 service_name.c_str(),
141 std::shared_ptr<rcl_node_t> node_handle,
145 any_callback_(any_callback)
151 if (!service_handle->
impl) {
153 throw std::runtime_error(
154 std::string(
"rcl_service_t in constructor argument must be initialized beforehand."));
169 std::stringstream ss;
170 ss <<
"Error in destruction of rcl service_handle_ handle: " <<
172 (std::cerr << ss.str()).flush();
180 return std::shared_ptr<void>(
new typename ServiceT::Request());
191 std::shared_ptr<void> request)
193 auto typed_request = std::static_pointer_cast<
typename ServiceT::Request>(request);
194 auto response = std::shared_ptr<typename ServiceT::Response>(
new typename ServiceT::Response);
195 any_callback_.dispatch(request_header, typed_request, response);
196 send_response(request_header, response);
200 std::shared_ptr<rmw_request_id_t> req_id,
201 std::shared_ptr<typename ServiceT::Response> response)
219 #endif // RCLCPP__SERVICE_HPP_ const char * rcl_service_get_service_name(const rcl_service_t *service)
virtual std::shared_ptr< void > create_request()=0
rcl_ret_t rcl_service_init(rcl_service_t *service, const rcl_node_t *node, const rosidl_service_type_support_t *type_support, const char *service_name, const rcl_service_options_t *options)
std::function< void(const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< typename rcl_interfaces::srv::GetParameters ::Request >, std::shared_ptr< typename rcl_interfaces::srv::GetParameters ::Response >)> CallbackWithHeaderType
Definition: service.hpp:101
Definition: service.hpp:89
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
Service(std::shared_ptr< rcl_node_t > node_handle, rcl_service_t *service_handle, AnyServiceCallback< ServiceT > any_callback)
Definition: service.hpp:140
struct rcl_service_impl_t * impl
Definition: allocator_common.hpp:24
Definition: parameter.hpp:235
bool owns_rcl_handle_
Definition: service.hpp:83
std::string expand_topic_or_service_name(const std::string &name, const std::string &node_name, const std::string &namespace_, bool is_service=false)
Expand a topic or service name and throw if it is not valid.
void throw_from_rcl_error(rcl_ret_t ret, const std::string &prefix="", const rcl_error_state_t *error_state=nullptr, void(*reset_error)()=rcl_reset_error)
Throw a C++ std::exception which was created based on an rcl error.
Definition: service.hpp:41
std::shared_ptr< rcl_node_t > node_handle_
Definition: service.hpp:79
rcl_ret_t rcl_send_response(const rcl_service_t *service, rmw_request_id_t *response_header, void *ros_response)
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
ServiceBase(std::shared_ptr< rcl_node_t > node_handle, const std::string &service_name)
rcl_node_t * get_rcl_node_handle() const
std::shared_ptr< void > create_request()
Definition: service.hpp:178
#define rcl_get_error_string_safe
rcl_ret_t rcl_service_fini(rcl_service_t *service, rcl_node_t *node)
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
Definition: macros.hpp:51
virtual std::shared_ptr< rmw_request_id_t > create_request_header()=0
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
std::shared_ptr< rmw_request_id_t > create_request_header()
Definition: service.hpp:183
const rcl_service_t * get_service_handle()
#define RCL_RET_SERVICE_NAME_INVALID
const char * rcl_node_get_name(const rcl_node_t *node)
virtual ~Service()
Definition: service.hpp:164
const char * rcl_node_get_namespace(const rcl_node_t *node)
void handle_request(std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request)
Definition: service.hpp:190
rcl_service_t rcl_get_zero_initialized_service(void)
void send_response(std::shared_ptr< rmw_request_id_t > req_id, std::shared_ptr< typename ServiceT::Response > response)
Definition: service.hpp:199
rcl_service_t * service_handle_
Definition: service.hpp:81
Definition: any_service_callback.hpp:34
std::function< void(const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)> CallbackType
Definition: service.hpp:95
virtual void handle_request(std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request)=0
std::string get_service_name()
std::string service_name_
Definition: service.hpp:82