15 #ifndef RCLCPP__CLIENT_HPP_ 16 #define RCLCPP__CLIENT_HPP_ 47 namespace node_interfaces
49 class NodeBaseInterface;
60 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
81 template<
typename RatioT = std::milli>
87 std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
117 template<
typename ServiceT>
139 rclcpp::node_interfaces::NodeBaseInterface * node_base,
140 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
141 const
std::
string & service_name,
145 using rosidl_typesupport_cpp::get_service_type_support_handle;
146 auto service_type_support_handle =
147 get_service_type_support_handle<ServiceT>();
151 service_type_support_handle,
152 service_name.c_str(),
194 int64_t sequence_number = request_header->sequence_number;
196 if (this->pending_requests_.count(sequence_number) == 0) {
199 "Received invalid sequence number. Ignoring...");
202 auto tuple = this->pending_requests_[sequence_number];
203 auto call_promise = std::get<0>(tuple);
204 auto callback = std::get<1>(tuple);
205 auto future = std::get<2>(tuple);
206 this->pending_requests_.erase(sequence_number);
210 call_promise->set_value(typed_response);
233 int64_t sequence_number;
241 pending_requests_[sequence_number] =
261 auto wrapping_cb = [future_with_request, promise, request, &cb](
SharedFuture future) {
262 auto response = future.
get();
264 cb(future_with_request);
269 return future_with_request;
281 #endif // RCLCPP__CLIENT_HPP_
SharedFuture async_send_request(SharedRequest request)
Definition: client.hpp:215
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
typename rcl_interfaces::srv::GetParameters ::Request::SharedPtr SharedRequest
Definition: client.hpp:121
void handle_response(std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response)
Definition: client.hpp:188
std::shared_ptr< rcl_client_t > client_handle_
Definition: client.hpp:114
Definition: client.hpp:118
virtual ~Client()
Definition: client.hpp:169
Definition: allocator_common.hpp:24
std::shared_ptr< rcl_client_t > get_client_handle()
const char * get_service_name() const
virtual std::shared_ptr< rmw_request_id_t > create_request_header()=0
rcl_node_t * get_rcl_node_handle()
rcl_ret_t rcl_send_request(const rcl_client_t *client, const void *ros_request, int64_t *sequence_number)
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.
bool wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_
Definition: client.hpp:111
SharedFuture async_send_request(SharedRequest request, CallbackT &&cb)
Definition: client.hpp:230
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.
std::shared_ptr< rmw_request_id_t > create_request_header()
Definition: client.hpp:180
std::shared_ptr< void > create_response()
Definition: client.hpp:174
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
std::shared_ptr< rcl_node_t > node_handle_
Definition: client.hpp:112
typename rcl_interfaces::srv::GetParameters ::Response::SharedPtr SharedResponse
Definition: client.hpp:122
std::shared_future< std::pair< SharedRequest, SharedResponse > > SharedFutureWithRequest
Definition: client.hpp:131
ClientBase(rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph)
Definition: function_traits.hpp:143
T static_pointer_cast(T... args)
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
Definition: macros.hpp:51
std::function< void(SharedFutureWithRequest)> CallbackWithRequestType
Definition: client.hpp:134
#define RCUTILS_LOG_ERROR_NAMED(name,...)
std::function< void(SharedFuture)> CallbackType
Definition: client.hpp:133
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
#define RCL_RET_SERVICE_NAME_INVALID
const char * rcl_node_get_name(const rcl_node_t *node)
virtual void handle_response(std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response)=0
const char * rcl_node_get_namespace(const rcl_node_t *node)
std::shared_future< SharedResponse > SharedFuture
Definition: client.hpp:130
SharedFutureWithRequest async_send_request(SharedRequest request, CallbackT &&cb)
Definition: client.hpp:256
bool service_is_ready() const
Definition: client.hpp:52
bool wait_for_service(std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))
Definition: client.hpp:83
virtual std::shared_ptr< void > create_response()=0