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 ()
	Return the name of the service. More...
std::shared_ptr< rcl_service_t >	get_service_handle ()
	Return the rcl_service_t service handle in a std::shared_ptr. More...
std::shared_ptr< const rcl_service_t >	get_service_handle () const
	Return the rcl_service_t service handle in a std::shared_ptr. More...
bool	take_type_erased_request (void *request_out, rmw_request_id_t &request_id_out)
	Take the next request from the service as a type erased pointer. More...
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
bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this service. More...

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
std::atomic< bool >	in_use_by_wait_set_ {false}

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

(

)

Return the name of the service.

Returns

The name of the service.

get_service_handle() [1/2]

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

(

)

Return the rcl_service_t service handle in a std::shared_ptr.

This handle remains valid after the Service is destroyed. The actual rcl service is not finalized until it is out of scope everywhere.

get_service_handle() [2/2]

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

(

)

const

Return the rcl_service_t service handle in a std::shared_ptr.

This handle remains valid after the Service is destroyed. The actual rcl service is not finalized until it is out of scope everywhere.

take_type_erased_request()

bool rclcpp::ServiceBase::take_type_erased_request	(	void *	request_out,
		rmw_request_id_t &	request_id_out
	)

Take the next request from the service as a type erased pointer.

This type erased version of

See also

Service::take_request() is useful when using the service in a type agnostic way with methods like ServiceBase::create_request(), ServiceBase::create_request_header(), and ServiceBase::handle_request().

Parameters

[out]	request_out	The type erased pointer to a service request object into which the middleware will copy the taken request.
[out]	request_id_out	The output id for the request which can be used to associate response with this request in the future.

Returns

true if the request was taken, otherwise false.

Exceptions

rclcpp::exceptions::RCLError

based exceptions if the underlying rcl calls fail.

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 >.

exchange_in_use_by_wait_set_state()

bool rclcpp::ServiceBase::exchange_in_use_by_wait_set_state

(

bool

in_use_state

)

Exchange the "in use by wait set" state for this service.

This is used to ensure this service is not used by multiple wait sets at the same time.

Parameters

[in]

in_use_state

the new state to exchange into the state, true indicates it is now in use by a wait set, and false is that it is no longer in use by a wait set.

Returns

the previous state.

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

in_use_by_wait_set_

std::atomic<bool> rclcpp::ServiceBase::in_use_by_wait_set_ {false}

protected

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

• include/rclcpp/service.hpp