rclcpp  master
C++ ROS Client Library API
node_services_interface.hpp
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1 // Copyright 2016 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
17 
19 #include "rclcpp/client.hpp"
20 #include "rclcpp/macros.hpp"
21 #include "rclcpp/service.hpp"
23 
24 namespace rclcpp
25 {
26 namespace node_interfaces
27 {
28 
31 {
32 public:
34 
36  virtual
37  ~NodeServicesInterface() = default;
38 
40  virtual
41  void
42  add_client(
43  rclcpp::ClientBase::SharedPtr client_base_ptr,
44  rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
45 
47  virtual
48  void
50  rclcpp::ServiceBase::SharedPtr service_base_ptr,
51  rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
52 };
53 
54 } // namespace node_interfaces
55 } // namespace rclcpp
56 
57 #endif // RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
Definition: allocator_common.hpp:24
virtual void add_service(rclcpp::ServiceBase::SharedPtr service_base_ptr, rclcpp::callback_group::CallbackGroup::SharedPtr group)=0
Pure virtual interface class for the NodeServices part of the Node API.
Definition: node_services_interface.hpp:30
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
virtual void add_client(rclcpp::ClientBase::SharedPtr client_base_ptr, rclcpp::callback_group::CallbackGroup::SharedPtr group)=0