mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType > Class Template Reference

implementation of the service client handler More...

#include <service_client_handler.hpp>

Public Member Functions
	Impl (rclcpp::Node::SharedPtr &node, const std::string &address, const rclcpp::QoS &qos, const rclcpp::CallbackGroup::SharedPtr &callback_group)
	constructor
std::optional< std::shared_ptr< typename ServiceType::Response > >	callSync (const std::shared_ptr< typename ServiceType::Request > &request)
	"classic" synchronous service call
std::optional< std::shared_future< std::shared_ptr< typename ServiceType::Response > > >	callAsync (const std::shared_ptr< typename ServiceType::Request > &request)
	asynchronous service call
internal::ServiceAwaitable< ServiceType >	callAwaitable (const std::shared_ptr< typename ServiceType::Request > &request)
std::string	getServiceName () const
	Returns the name of the service this client connects to.
template<typename RepT = int64_t, typename RatioT = std::milli>
bool	waitForService (std::chrono::duration< RepT, RatioT > timeout)
	Waits for the service to be available.
bool	isServiceReady () const
	Checks if the service is available.

Detailed Description

template<class ServiceType>
template<class ServiceType>
class mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >

implementation of the service client handler

Constructor & Destructor Documentation

Impl()

template<class ServiceType >

template<class ServiceType >

mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >::Impl ( rclcpp::Node::SharedPtr &  node, const std::string &  address, const rclcpp::QoS &  qos, const rclcpp::CallbackGroup::SharedPtr &  callback_group  )

inline

constructor

Parameters

node	ROS node handler
address	service address
qos	QOS
callback_group	callback group

Member Function Documentation

callAsync()

template<class ServiceType >

template<class ServiceType >

std::optional< std::shared_future< std::shared_ptr< typename ServiceType::Response > > > mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >::callAsync ( const std::shared_ptr< typename ServiceType::Request > &  request )

inline

asynchronous service call

Parameters

request

request

Returns

optional shared future to the result

callSync()

template<class ServiceType >

template<class ServiceType >

std::optional< std::shared_ptr< typename ServiceType::Response > > mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >::callSync ( const std::shared_ptr< typename ServiceType::Request > &  request )

inline

"classic" synchronous service call

Parameters

request

request

Returns

optional shared pointer to the response

getServiceName()

template<class ServiceType >

template<class ServiceType >

std::string mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >::getServiceName ( ) const

inline

Returns the name of the service this client connects to.

Returns

service name

isServiceReady()

template<class ServiceType >

template<class ServiceType >

bool mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >::isServiceReady ( ) const

inline

Checks if the service is available.

Returns

true if the service is available, false otherwise

waitForService()

template<class ServiceType >

template<class ServiceType >

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

bool mrs_lib::ServiceClientHandler< ServiceType >::Impl< ServiceType >::waitForService ( std::chrono::duration< RepT, RatioT >  timeout )

inline

Waits for the service to be available.

Parameters

timeout

maximum time to wait for the service

Returns

true if the service is available, false otherwise

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

• include/mrs_lib/impl/service_client_handler.hpp