#include <service.hpp>

Inheritance diagram for rclcpp::Service< ServiceT >:

Collaboration diagram for rclcpp::Service< ServiceT >:

[legend]

Public Types
using	CallbackType = std::function< void(const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)>

using	CallbackWithHeaderType = std::function< void(const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)>

Public Member Functions
	Service (std::shared_ptr< rcl_node_t > node_handle, const std::string &service_name, AnyServiceCallback< ServiceT > any_callback, rcl_service_options_t &service_options)
	Default constructor. More...

	Service (std::shared_ptr< rcl_node_t > node_handle, std::shared_ptr< rcl_service_t > service_handle, AnyServiceCallback< ServiceT > any_callback)
	Default constructor. More...

	Service (std::shared_ptr< rcl_node_t > node_handle, rcl_service_t *service_handle, AnyServiceCallback< ServiceT > any_callback)
	Default constructor. More...

	Service ()=delete

virtual	~Service ()

bool	take_request (typename ServiceT::Request &request_out, rmw_request_id_t &request_id_out)
	Take the next request from the service. More...

std::shared_ptr< void >	create_request () override

std::shared_ptr< rmw_request_id_t >	create_request_header () override

void	handle_request (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request) override

void	send_response (std::shared_ptr< rmw_request_id_t > req_id, std::shared_ptr< typename ServiceT::Response > response)

void	send_response (rmw_request_id_t &req_id, typename ServiceT::Response &response)

Public Member Functions inherited from rclcpp::ServiceBase
	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...

bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this service. More...

Additional Inherited Members
Protected Member Functions inherited from rclcpp::ServiceBase
rcl_node_t *	get_rcl_node_handle ()

const rcl_node_t *	get_rcl_node_handle () const

Protected Attributes inherited from rclcpp::ServiceBase
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}

Member Typedef Documentation

◆ CallbackType

template<typename ServiceT >

using rclcpp::Service< ServiceT >::CallbackType = std::function< void ( const std::shared_ptr<typename ServiceT::Request>, std::shared_ptr<typename ServiceT::Response>)>

◆ CallbackWithHeaderType

template<typename ServiceT >

using rclcpp::Service< ServiceT >::CallbackWithHeaderType = std::function< void ( const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<typename ServiceT::Request>, std::shared_ptr<typename ServiceT::Response>)>

Constructor & Destructor Documentation

◆ Service() [1/4]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service	(	std::shared_ptr< rcl_node_t >	node_handle,
		const std::string &	service_name,
		AnyServiceCallback< ServiceT >	any_callback,
		rcl_service_options_t &	service_options
	)

inline

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters

[in]	node_handle	NodeBaseInterface pointer that is used in part of the setup.
[in]	service_name	Name of the topic to publish to.
[in]	any_callback	User defined callback to call when a client request is received.
[in]	service_options	options for the subscription.

◆ Service() [2/4]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service	(	std::shared_ptr< rcl_node_t >	node_handle,
		std::shared_ptr< rcl_service_t >	service_handle,
		AnyServiceCallback< ServiceT >	any_callback
	)

inline

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters

[in]	node_handle	NodeBaseInterface pointer that is used in part of the setup.
[in]	service_handle	service handle.
[in]	any_callback	User defined callback to call when a client request is received.

◆ Service() [3/4]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service	(	std::shared_ptr< rcl_node_t >	node_handle,
		rcl_service_t *	service_handle,
		AnyServiceCallback< ServiceT >	any_callback
	)

inline

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters

[in]	node_handle	NodeBaseInterface pointer that is used in part of the setup.
[in]	service_handle	service handle.
[in]	any_callback	User defined callback to call when a client request is received.

◆ Service() [4/4]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service ( )

delete

◆ ~Service()

template<typename ServiceT >

virtual rclcpp::Service< ServiceT >::~Service ( )

inlinevirtual

Member Function Documentation

◆ take_request()

template<typename ServiceT >

bool rclcpp::Service< ServiceT >::take_request	(	typename ServiceT::Request &	request_out,
		rmw_request_id_t &	request_id_out
	)

inline

Take the next request from the service.

See also: ServiceBase::take_type_erased_request().

Parameters

[out]	request_out	The reference 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()

template<typename ServiceT >

std::shared_ptr<void> rclcpp::Service< ServiceT >::create_request ( )

inlineoverridevirtual

Implements rclcpp::ServiceBase.

◆ create_request_header()

template<typename ServiceT >

std::shared_ptr<rmw_request_id_t> rclcpp::Service< ServiceT >::create_request_header ( )

inlineoverridevirtual

Implements rclcpp::ServiceBase.

◆ handle_request()

template<typename ServiceT >

void rclcpp::Service< ServiceT >::handle_request	(	std::shared_ptr< rmw_request_id_t >	request_header,
		std::shared_ptr< void >	request
	)

inlineoverridevirtual

Implements rclcpp::ServiceBase.

◆ send_response() [1/2]

template<typename ServiceT >

void rclcpp::Service< ServiceT >::send_response	(	std::shared_ptr< rmw_request_id_t >	req_id,
		std::shared_ptr< typename ServiceT::Response >	response
	)

inline

◆ send_response() [2/2]

template<typename ServiceT >

void rclcpp::Service< ServiceT >::send_response	(	rmw_request_id_t &	req_id,
		typename ServiceT::Response &	response
	)

inline

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

include/rclcpp/service.hpp

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ CallbackType

◆ CallbackWithHeaderType

Constructor & Destructor Documentation

◆ Service() [1/4]

◆ Service() [2/4]

◆ Service() [3/4]

◆ Service() [4/4]

◆ ~Service()

Member Function Documentation

◆ take_request()

◆ create_request()

◆ create_request_header()

◆ handle_request()

◆ send_response() [1/2]

◆ send_response() [2/2]