rclcpp::ClientBase Class Reference

#include <client.hpp>

Inheritance diagram for rclcpp::ClientBase:

Collaboration diagram for rclcpp::ClientBase:

Public Member Functions
	ClientBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph)
virtual	~ClientBase ()
bool	take_type_erased_response (void *response_out, rmw_request_id_t &request_header_out)
	Take the next response for this client as a type erased pointer. More...
const char *	get_service_name () const
	Return the name of the service. More...
std::shared_ptr< rcl_client_t >	get_client_handle ()
	Return the rcl_client_t client handle in a std::shared_ptr. More...
std::shared_ptr< const rcl_client_t >	get_client_handle () const
	Return the rcl_client_t client handle in a std::shared_ptr. More...
bool	service_is_ready () const
	Return if the service is ready. More...
template<typename RepT = int64_t, typename RatioT = std::milli>
bool	wait_for_service (std::chrono::duration< RepT, RatioT > timeout=std::chrono::duration< RepT, RatioT >(-1))
	Wait for a service to be ready. More...
virtual std::shared_ptr< void >	create_response ()=0
virtual std::shared_ptr< rmw_request_id_t >	create_request_header ()=0
virtual void	handle_response (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response)=0
bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this client. More...

Protected Member Functions
bool	wait_for_service_nanoseconds (std::chrono::nanoseconds timeout)
rcl_node_t *	get_rcl_node_handle ()
const rcl_node_t *	get_rcl_node_handle () const

Protected Attributes
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr	node_graph_
std::shared_ptr< rcl_node_t >	node_handle_
std::shared_ptr< rclcpp::Context >	context_
std::shared_ptr< rcl_client_t >	client_handle_
std::atomic< bool >	in_use_by_wait_set_ {false}

Constructor & Destructor Documentation

ClientBase()

rclcpp::ClientBase::ClientBase	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph
	)

~ClientBase()

virtual rclcpp::ClientBase::~ClientBase ( )

virtual

Member Function Documentation

take_type_erased_response()

bool rclcpp::ClientBase::take_type_erased_response	(	void *	response_out,
		rmw_request_id_t &	request_header_out
	)

Take the next response for this client as a type erased pointer.

The type erased pointer allows for this method to be used in a type agnostic way along with ClientBase::create_response(), ClientBase::create_request_header(), and ClientBase::handle_response(). The typed version of this can be used if the Service type is known,

See also

Client::take_response().

Parameters

[out]	response_out	The type erased pointer to a Service Response into which the middleware will copy the response being taken.
[out]	request_header_out	The request header to be filled by the middleware when taking, and which can be used to associte the response to a specific request.

Returns

true if the response was taken, otherwise false.

Exceptions

rclcpp::exceptions::RCLError

based exceptions if the underlying rcl function fail.

get_service_name()

const char* rclcpp::ClientBase::get_service_name

(

)

const

Return the name of the service.

Returns

The name of the service.

get_client_handle() [1/2]

std::shared_ptr<rcl_client_t> rclcpp::ClientBase::get_client_handle

(

)

Return the rcl_client_t client handle in a std::shared_ptr.

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

get_client_handle() [2/2]

std::shared_ptr<const rcl_client_t> rclcpp::ClientBase::get_client_handle

(

)

const

Return the rcl_client_t client handle in a std::shared_ptr.

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

service_is_ready()

bool rclcpp::ClientBase::service_is_ready

(

)

const

Return if the service is ready.

Returns

true if the service is ready, false otherwise

wait_for_service()

template<typename RepT = int64_t, typename RatioT = std::milli>

bool rclcpp::ClientBase::wait_for_service ( std::chrono::duration< RepT, RatioT >  timeout = std::chrono::duration<RepT, RatioT>(-1) )

inline

Wait for a service to be ready.

Parameters

timeout

maximum time to wait

Returns

true if the service is ready and the timeout is not over, false otherwise

create_response()

virtual std::shared_ptr<void> rclcpp::ClientBase::create_response ( )

pure virtual

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

create_request_header()

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

pure virtual

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

handle_response()

virtual void rclcpp::ClientBase::handle_response ( std::shared_ptr< rmw_request_id_t >  request_header, std::shared_ptr< void >  response  )

pure virtual

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

exchange_in_use_by_wait_set_state()

bool rclcpp::ClientBase::exchange_in_use_by_wait_set_state

(

bool

in_use_state

)

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

This is used to ensure this client 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.

wait_for_service_nanoseconds()

bool rclcpp::ClientBase::wait_for_service_nanoseconds ( std::chrono::nanoseconds  timeout )

protected

get_rcl_node_handle() [1/2]

rcl_node_t* rclcpp::ClientBase::get_rcl_node_handle ( )

protected

get_rcl_node_handle() [2/2]

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

protected

Member Data Documentation

node_graph_

rclcpp::node_interfaces::NodeGraphInterface::WeakPtr rclcpp::ClientBase::node_graph_

protected

node_handle_

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

protected

context_

std::shared_ptr<rclcpp::Context> rclcpp::ClientBase::context_

protected

client_handle_

std::shared_ptr<rcl_client_t> rclcpp::ClientBase::client_handle_

protected

in_use_by_wait_set_

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

protected

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

• include/rclcpp/client.hpp