rclcpp::ServiceBase Class Reference

#include <service.hpp>

Inheritance diagram for rclcpp::ServiceBase:

Collaboration diagram for rclcpp::ServiceBase:

Public Member Functions
	ServiceBase (std::shared_ptr< rcl_node_t > node_handle)
virtual	~ServiceBase ()
const char *	get_service_name ()
std::shared_ptr< rcl_service_t >	get_service_handle ()
std::shared_ptr< const rcl_service_t >	get_service_handle () const
virtual std::shared_ptr< void >	create_request ()=0
virtual std::shared_ptr< rmw_request_id_t >	create_request_header ()=0
virtual void	handle_request (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request)=0

Protected Member Functions
rcl_node_t *	get_rcl_node_handle ()
const rcl_node_t *	get_rcl_node_handle () const

Protected Attributes
std::shared_ptr< rcl_node_t >	node_handle_
std::shared_ptr< rcl_service_t >	service_handle_
bool	owns_rcl_handle_ = true

Constructor & Destructor Documentation

ServiceBase()

rclcpp::ServiceBase::ServiceBase ( std::shared_ptr< rcl_node_t >  node_handle )

explicit

~ServiceBase()

virtual rclcpp::ServiceBase::~ServiceBase ( )

virtual

Member Function Documentation

get_service_name()

const char* rclcpp::ServiceBase::get_service_name

(

)

get_service_handle() [1/2]

std::shared_ptr<rcl_service_t> rclcpp::ServiceBase::get_service_handle

(

)

get_service_handle() [2/2]

std::shared_ptr<const rcl_service_t> rclcpp::ServiceBase::get_service_handle

(

)

const

create_request()

virtual std::shared_ptr<void> rclcpp::ServiceBase::create_request ( )

pure virtual

Implemented in rclcpp::Service< ServiceT >, rclcpp::Service< rcl_interfaces::srv::DescribeParameters >, rclcpp::Service< rcl_interfaces::srv::GetParameterTypes >, rclcpp::Service< rcl_interfaces::srv::ListParameters >, rclcpp::Service< rcl_interfaces::srv::SetParameters >, rclcpp::Service< rcl_interfaces::srv::SetParametersAtomically >, and rclcpp::Service< rcl_interfaces::srv::GetParameters >.

create_request_header()

virtual std::shared_ptr<rmw_request_id_t> rclcpp::ServiceBase::create_request_header ( )

pure virtual

Implemented in rclcpp::Service< ServiceT >, rclcpp::Service< rcl_interfaces::srv::DescribeParameters >, rclcpp::Service< rcl_interfaces::srv::GetParameterTypes >, rclcpp::Service< rcl_interfaces::srv::ListParameters >, rclcpp::Service< rcl_interfaces::srv::SetParameters >, rclcpp::Service< rcl_interfaces::srv::SetParametersAtomically >, and rclcpp::Service< rcl_interfaces::srv::GetParameters >.

handle_request()

virtual void rclcpp::ServiceBase::handle_request ( std::shared_ptr< rmw_request_id_t >  request_header, std::shared_ptr< void >  request  )

pure virtual

Implemented in rclcpp::Service< ServiceT >, rclcpp::Service< rcl_interfaces::srv::DescribeParameters >, rclcpp::Service< rcl_interfaces::srv::GetParameterTypes >, rclcpp::Service< rcl_interfaces::srv::ListParameters >, rclcpp::Service< rcl_interfaces::srv::SetParameters >, rclcpp::Service< rcl_interfaces::srv::SetParametersAtomically >, and rclcpp::Service< rcl_interfaces::srv::GetParameters >.

get_rcl_node_handle() [1/2]

rcl_node_t* rclcpp::ServiceBase::get_rcl_node_handle ( )

protected

get_rcl_node_handle() [2/2]

const rcl_node_t* rclcpp::ServiceBase::get_rcl_node_handle ( ) const

protected

Member Data Documentation

node_handle_

std::shared_ptr<rcl_node_t> rclcpp::ServiceBase::node_handle_

protected

service_handle_

std::shared_ptr<rcl_service_t> rclcpp::ServiceBase::service_handle_

protected

owns_rcl_handle_

bool rclcpp::ServiceBase::owns_rcl_handle_ = true

protected

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The documentation for this class was generated from the following file:

• include/rclcpp/service.hpp