Handles a connection to a service. If it's a non-persistent client, automatically disconnects when its first service call has finished. More...

#include <service_server_link.h>

Inheritance diagram for ros::ServiceServerLink:

[legend]

Classes
struct	CallInfo

Public Types
typedef std::map< std::string, std::string >	M_string

Public Member Functions
bool	call (const SerializedMessage &req, SerializedMessage &resp)
	Blocking call the service this client is connected to. More...

const ConnectionPtr &	getConnection () const

const std::string &	getRequestMD5Sum () const

const std::string &	getResponseMD5Sum () const

const std::string &	getServiceName () const

bool	initialize (const ConnectionPtr &connection)

bool	isPersistent () const
	Returns whether this is a persistent connection. More...

bool	isValid () const
	Returns whether this client is still valid, ie. its connection has not been dropped. More...

	ServiceServerLink (const std::string &service_name, bool persistent, const std::string &request_md5sum, const std::string &response_md5sum, const M_string &header_values)

virtual	~ServiceServerLink ()

Private Types
typedef boost::shared_ptr< CallInfo >	CallInfoPtr

typedef std::queue< CallInfoPtr >	Q_CallInfo

Private Member Functions
void	callFinished ()
	Called when the currently queued call has finished. Clears out the current call, notifying it that it has finished, then calls processNextCall() More...

void	cancelCall (const CallInfoPtr &info)
	Cancel a queued call, notifying it that it has failed. More...

void	clearCalls ()
	Clear all calls, notifying them that they've failed. More...

void	onConnectionDropped (const ConnectionPtr &conn)

bool	onHeaderReceived (const ConnectionPtr &conn, const Header &header)

void	onHeaderWritten (const ConnectionPtr &conn)

void	onRequestWritten (const ConnectionPtr &conn)

void	onResponse (const ConnectionPtr &conn, const boost::shared_array< uint8_t > &buffer, uint32_t size, bool success)

void	onResponseOkAndLength (const ConnectionPtr &conn, const boost::shared_array< uint8_t > &buffer, uint32_t size, bool success)

void	processNextCall ()
	Pops the next call off the queue if one is available. If this is a non-persistent connection and the queue is empty it will also drop the connection. More...

Private Attributes
Q_CallInfo	call_queue_

boost::mutex	call_queue_mutex_

ConnectionPtr	connection_

CallInfoPtr	current_call_

bool	dropped_

M_string	extra_outgoing_header_values_

bool	header_read_

bool	header_written_

bool	persistent_

std::string	request_md5sum_

std::string	response_md5sum_

std::string	service_name_

Detailed Description

Handles a connection to a service. If it's a non-persistent client, automatically disconnects when its first service call has finished.

Definition at line 59 of file service_server_link.h.

Member Typedef Documentation

◆ CallInfoPtr

typedef boost::shared_ptr<CallInfo> ros::ServiceServerLink::CallInfoPtr

private

Definition at line 77 of file service_server_link.h.

◆ M_string

typedef std::map<std::string, std::string> ros::ServiceServerLink::M_string

Definition at line 81 of file service_server_link.h.

◆ Q_CallInfo

typedef std::queue<CallInfoPtr> ros::ServiceServerLink::Q_CallInfo

private

Definition at line 78 of file service_server_link.h.

Constructor & Destructor Documentation

◆ ServiceServerLink()

ros::ServiceServerLink::ServiceServerLink	(	const std::string &	service_name,
		bool	persistent,
		const std::string &	request_md5sum,
		const std::string &	response_md5sum,
		const M_string &	header_values
	)

Definition at line 50 of file service_server_link.cpp.

◆ ~ServiceServerLink()

ros::ServiceServerLink::~ServiceServerLink ( )

virtual

Definition at line 63 of file service_server_link.cpp.

Member Function Documentation

◆ call()

bool ros::ServiceServerLink::call	(	const SerializedMessage &	req,
		SerializedMessage &	resp
	)

Blocking call the service this client is connected to.

If there is already a call happening in another thread, this will queue up the call and still block until it has finished.

Definition at line 330 of file service_server_link.cpp.

◆ callFinished()

void ros::ServiceServerLink::callFinished ( )

private

Called when the currently queued call has finished. Clears out the current call, notifying it that it has finished, then calls processNextCall()

Definition at line 253 of file service_server_link.cpp.

◆ cancelCall()

void ros::ServiceServerLink::cancelCall ( const CallInfoPtr & info )

private

Cancel a queued call, notifying it that it has failed.

Definition at line 70 of file service_server_link.cpp.

◆ clearCalls()

void ros::ServiceServerLink::clearCalls ( )

private

Clear all calls, notifying them that they've failed.

Definition at line 88 of file service_server_link.cpp.

◆ getConnection()

const ConnectionPtr& ros::ServiceServerLink::getConnection ( ) const

inline

Definition at line 97 of file service_server_link.h.

◆ getRequestMD5Sum()

const std::string& ros::ServiceServerLink::getRequestMD5Sum ( ) const

inline

Definition at line 100 of file service_server_link.h.

◆ getResponseMD5Sum()

const std::string& ros::ServiceServerLink::getResponseMD5Sum ( ) const

inline

Definition at line 101 of file service_server_link.h.

◆ getServiceName()

const std::string& ros::ServiceServerLink::getServiceName ( ) const

inline

Definition at line 99 of file service_server_link.h.

◆ initialize()

bool ros::ServiceServerLink::initialize ( const ConnectionPtr & connection )

Definition at line 114 of file service_server_link.cpp.

◆ isPersistent()

bool ros::ServiceServerLink::isPersistent ( ) const

inline

Returns whether this is a persistent connection.

Definition at line 95 of file service_server_link.h.

◆ isValid()

bool ros::ServiceServerLink::isValid ( ) const

Returns whether this client is still valid, ie. its connection has not been dropped.

Definition at line 385 of file service_server_link.cpp.

◆ onConnectionDropped()

void ros::ServiceServerLink::onConnectionDropped ( const ConnectionPtr & conn )

private

Definition at line 169 of file service_server_link.cpp.

◆ onHeaderReceived()

bool ros::ServiceServerLink::onHeaderReceived	(	const ConnectionPtr &	conn,
		const Header &	header
	)

private

Definition at line 138 of file service_server_link.cpp.

◆ onHeaderWritten()

void ros::ServiceServerLink::onHeaderWritten ( const ConnectionPtr & conn )

private

Definition at line 132 of file service_server_link.cpp.

◆ onRequestWritten()

void ros::ServiceServerLink::onRequestWritten ( const ConnectionPtr & conn )

private

Definition at line 180 of file service_server_link.cpp.

◆ onResponse()

void ros::ServiceServerLink::onResponse	(	const ConnectionPtr &	conn,
		const boost::shared_array< uint8_t > &	buffer,
		uint32_t	size,
		bool	success
	)

private

Definition at line 229 of file service_server_link.cpp.

◆ onResponseOkAndLength()

void ros::ServiceServerLink::onResponseOkAndLength	(	const ConnectionPtr &	conn,
		const boost::shared_array< uint8_t > &	buffer,
		uint32_t	size,
		bool	success
	)

private

Definition at line 187 of file service_server_link.cpp.

◆ processNextCall()

void ros::ServiceServerLink::processNextCall ( )

private

Pops the next call off the queue if one is available. If this is a non-persistent connection and the queue is empty it will also drop the connection.

Definition at line 281 of file service_server_link.cpp.

Member Data Documentation

◆ call_queue_

Q_CallInfo ros::ServiceServerLink::call_queue_

private

Definition at line 149 of file service_server_link.h.

◆ call_queue_mutex_

boost::mutex ros::ServiceServerLink::call_queue_mutex_

private

Definition at line 150 of file service_server_link.h.

◆ connection_

ConnectionPtr ros::ServiceServerLink::connection_

private

Definition at line 139 of file service_server_link.h.

◆ current_call_

CallInfoPtr ros::ServiceServerLink::current_call_

private

Definition at line 152 of file service_server_link.h.

◆ dropped_

bool ros::ServiceServerLink::dropped_

private

Definition at line 154 of file service_server_link.h.

◆ extra_outgoing_header_values_

M_string ros::ServiceServerLink::extra_outgoing_header_values_

private

Definition at line 145 of file service_server_link.h.

◆ header_read_

bool ros::ServiceServerLink::header_read_

private

Definition at line 147 of file service_server_link.h.

◆ header_written_

bool ros::ServiceServerLink::header_written_

private

Definition at line 146 of file service_server_link.h.

◆ persistent_

bool ros::ServiceServerLink::persistent_

private

Definition at line 141 of file service_server_link.h.

◆ request_md5sum_

std::string ros::ServiceServerLink::request_md5sum_

private

Definition at line 142 of file service_server_link.h.

◆ response_md5sum_

std::string ros::ServiceServerLink::response_md5sum_

private

Definition at line 143 of file service_server_link.h.

◆ service_name_

std::string ros::ServiceServerLink::service_name_

private

Definition at line 140 of file service_server_link.h.

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

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CallInfoPtr

◆ M_string

◆ Q_CallInfo

Constructor & Destructor Documentation

◆ ServiceServerLink()

◆ ~ServiceServerLink()

Member Function Documentation

◆ call()

◆ callFinished()

◆ cancelCall()

◆ clearCalls()

◆ getConnection()

◆ getRequestMD5Sum()

◆ getResponseMD5Sum()

◆ getServiceName()

◆ initialize()

◆ isPersistent()

◆ isValid()

◆ onConnectionDropped()

◆ onHeaderReceived()

◆ onHeaderWritten()

◆ onRequestWritten()

◆ onResponse()

◆ onResponseOkAndLength()

◆ processNextCall()

Member Data Documentation

◆ call_queue_

◆ call_queue_mutex_

◆ connection_

◆ current_call_

◆ dropped_

◆ extra_outgoing_header_values_

◆ header_read_

◆ header_written_

◆ persistent_

◆ request_md5sum_

◆ response_md5sum_

◆ service_name_