#include <service_client.hpp>

Inheritance diagram for uavcan::ServiceClient< DataType_, Callback_ >:

[legend]

Classes
struct	TimeoutCallbackCaller

Public Types
typedef Callback_	Callback

typedef DataType_	DataType

typedef DataType::Request	RequestType

typedef DataType::Response	ResponseType

typedef ServiceCallResult< DataType >	ServiceCallResultType

Public Member Functions
int	call (NodeID server_node_id, const RequestType &request)

int	call (NodeID server_node_id, const RequestType &request, ServiceCallID &out_call_id)

void	cancelAllCalls ()

void	cancelCall (ServiceCallID call_id)

const Callback &	getCallback () const

ServiceCallID	getCallIDByIndex (unsigned index) const

unsigned	getNumPendingCalls () const

TransferPriority	getPriority () const

MonotonicDuration	getRequestTimeout () const

uint32_t	getResponseFailureCount () const

bool	hasPendingCalls () const

bool	hasPendingCallToServer (NodeID server_node_id) const

int	init ()

int	init (TransferPriority priority)

	ServiceClient (INode &node, const Callback &callback=Callback())

void	setCallback (const Callback &cb)

void	setPriority (const TransferPriority prio)

void	setRequestTimeout (MonotonicDuration timeout)

virtual	~ServiceClient ()

Public Member Functions inherited from uavcan::GenericSubscriberBase
uint32_t	getFailureCount () const

INode &	getNode () const

Private Types
typedef Multiset< CallState >	CallRegistry

typedef GenericPublisher< DataType, RequestType >	PublisherType

typedef ServiceClient< DataType, Callback >	SelfType

typedef GenericSubscriber< DataType, ResponseType, TransferListenerWithFilter >	SubscriberType

Private Member Functions
int	addCallState (ServiceCallID call_id)

virtual void	handleDeadline (MonotonicTime)

virtual void	handleReceivedDataStruct (ReceivedDataStructure< ResponseType > &response)

void	invokeCallback (ServiceCallResultType &result)

virtual bool	shouldAcceptFrame (const RxFrame &frame) const

Private Attributes
CallRegistry	call_registry_

Callback	callback_

PublisherType	publisher_

Additional Inherited Members
Static Public Member Functions inherited from uavcan::ServiceClientBase
static MonotonicDuration	getDefaultRequestTimeout ()

static MonotonicDuration	getMaxRequestTimeout ()

static MonotonicDuration	getMinRequestTimeout ()

Protected Member Functions inherited from uavcan::GenericSubscriber< DataType_, DataType_::Response, TransferListenerWithFilter >
void	allowAnonymousTransfers ()

	GenericSubscriber (INode &node)

TransferListenerWithFilter *	getTransferListener ()

virtual void	handleReceivedDataStruct (ReceivedDataStructure< DataType_::Response > &)=0

int	startAsMessageListener ()

int	startAsServiceRequestListener ()

int	startAsServiceResponseListener ()

void	stop ()

virtual	~GenericSubscriber ()

Protected Member Functions inherited from uavcan::GenericSubscriberBase
int	genericStart (TransferListener listener, bool(Dispatcher::registration_method)(TransferListener *))

	GenericSubscriberBase (INode &node)

void	stop (TransferListener *listener)

	~GenericSubscriberBase ()

Protected Member Functions inherited from uavcan::ServiceClientBase
int	prepareToCall (INode &node, const char *dtname, NodeID server_node_id, ServiceCallID &out_call_id)

	ServiceClientBase (INode &node)

virtual	~ServiceClientBase ()

Protected Member Functions inherited from uavcan::ITransferAcceptanceFilter
virtual	~ITransferAcceptanceFilter ()

Protected Member Functions inherited from uavcan::DeadlineHandler
	DeadlineHandler (Scheduler &scheduler)

virtual	~DeadlineHandler ()

void	generateDeadlineImmediately ()

MonotonicTime	getDeadline () const

Scheduler &	getScheduler () const

bool	isRunning () const

void	startWithDeadline (MonotonicTime deadline)

void	startWithDelay (MonotonicDuration delay)

void	stop ()

Protected Member Functions inherited from uavcan::LinkedListNode< DeadlineHandler >
	LinkedListNode ()

	~LinkedListNode ()

DeadlineHandler *	getNextListNode () const

void	setNextListNode (DeadlineHandler *node)

Protected Attributes inherited from uavcan::GenericSubscriberBase
uint32_t	failure_count_

INode &	node_

Protected Attributes inherited from uavcan::ServiceClientBase
MonotonicDuration	request_timeout_

Protected Attributes inherited from uavcan::DeadlineHandler
Scheduler &	scheduler_

Detailed Description

template<typename DataType_, typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>
class uavcan::ServiceClient< DataType_, Callback_ >

Use this class to invoke services on remote nodes.

This class can manage multiple concurrent calls to the same or different remote servers. Number of concurrent calls is limited only by amount of available pool memory.

Note that the reference passed to the callback points to a stack-allocated object, which means that the reference invalidates once the callback returns. If you want to use this object after the callback execution, you need to copy it somewhere.

Note that by default, service client objects use lower priority than message publishers. Use setPriority() to override the default if necessary.

Template Parameters

DataType_	Service data type.
Callback_	Service response will be delivered through the callback of this type. In C++11 mode this type defaults to std::function<>. In C++03 mode this type defaults to a plain function pointer; use binder to call member functions as callbacks.

Definition at line 217 of file service_client.hpp.

Member Typedef Documentation

◆ Callback

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef Callback_ uavcan::ServiceClient< DataType_, Callback_ >::Callback

Definition at line 227 of file service_client.hpp.

◆ CallRegistry

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef Multiset<CallState> uavcan::ServiceClient< DataType_, Callback_ >::CallRegistry

private

Definition at line 234 of file service_client.hpp.

◆ DataType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef DataType_ uavcan::ServiceClient< DataType_, Callback_ >::DataType

Definition at line 223 of file service_client.hpp.

◆ PublisherType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef GenericPublisher<DataType, RequestType> uavcan::ServiceClient< DataType_, Callback_ >::PublisherType

private

Definition at line 231 of file service_client.hpp.

◆ RequestType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef DataType::Request uavcan::ServiceClient< DataType_, Callback_ >::RequestType

Definition at line 224 of file service_client.hpp.

◆ ResponseType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef DataType::Response uavcan::ServiceClient< DataType_, Callback_ >::ResponseType

Definition at line 225 of file service_client.hpp.

◆ SelfType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef ServiceClient<DataType, Callback> uavcan::ServiceClient< DataType_, Callback_ >::SelfType

private

Definition at line 230 of file service_client.hpp.

◆ ServiceCallResultType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef ServiceCallResult<DataType> uavcan::ServiceClient< DataType_, Callback_ >::ServiceCallResultType

Definition at line 226 of file service_client.hpp.

◆ SubscriberType

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

typedef GenericSubscriber<DataType, ResponseType, TransferListenerWithFilter> uavcan::ServiceClient< DataType_, Callback_ >::SubscriberType

private

Definition at line 232 of file service_client.hpp.

Constructor & Destructor Documentation

◆ ServiceClient()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

uavcan::ServiceClient< DataType_, Callback_ >::ServiceClient	(	INode &	node,
		const Callback &	callback = `Callback()`
	)

inlineexplicit

Parameters

node	Node instance this client will be registered with.
callback	Callback instance. Optional, can be assigned later.

Definition at line 280 of file service_client.hpp.

◆ ~ServiceClient()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

virtual uavcan::ServiceClient< DataType_, Callback_ >::~ServiceClient ( )

inlinevirtual

Definition at line 294 of file service_client.hpp.

Member Function Documentation

◆ addCallState()

template<typename DataType_ , typename Callback_ >

int uavcan::ServiceClient< DataType_, Callback_ >::addCallState ( ServiceCallID call_id )

private

Definition at line 465 of file service_client.hpp.

◆ call() [1/2]

template<typename DataType_ , typename Callback_ >

int uavcan::ServiceClient< DataType_, Callback_ >::call	(	NodeID	server_node_id,
		const RequestType &	request
	)

Performs non-blocking service call. This method transmits the service request and returns immediately.

Service response will be delivered into the application via the callback. Note that the callback will ALWAYS be called even if the service call times out; the actual result of the call (success/failure) will be passed to the callback as well.

Returns negative error code.

Definition at line 488 of file service_client.hpp.

◆ call() [2/2]

template<typename DataType_ , typename Callback_ >

int uavcan::ServiceClient< DataType_, Callback_ >::call	(	NodeID	server_node_id,
		const RequestType &	request,
		ServiceCallID &	out_call_id
	)

Same as plain call() above, but this overload also returns the call ID of the new call. The call ID structure can be used to cancel this request later if needed.

Definition at line 495 of file service_client.hpp.

◆ cancelAllCalls()

template<typename DataType_ , typename Callback_ >

void uavcan::ServiceClient< DataType_, Callback_ >::cancelAllCalls

Cancels all pending calls.

Definition at line 564 of file service_client.hpp.

◆ cancelCall()

template<typename DataType_ , typename Callback_ >

void uavcan::ServiceClient< DataType_, Callback_ >::cancelCall ( ServiceCallID call_id )

Cancels certain call referred via call ID structure.

Definition at line 554 of file service_client.hpp.

◆ getCallback()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

const Callback& uavcan::ServiceClient< DataType_, Callback_ >::getCallback ( ) const

inline

Service response callback must be set prior service call.

Definition at line 357 of file service_client.hpp.

◆ getCallIDByIndex()

template<typename DataType_ , typename Callback_ >

ServiceCallID uavcan::ServiceClient< DataType_, Callback_ >::getCallIDByIndex ( unsigned index ) const

This method allows to traverse pending calls. If the index is out of range, an invalid call ID will be returned. Warning: average complexity is O(index); worst case complexity is O(size).

Definition at line 577 of file service_client.hpp.

◆ getNumPendingCalls()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

unsigned uavcan::ServiceClient< DataType_, Callback_ >::getNumPendingCalls ( ) const

inline

Complexity is O(N) of number of pending calls. Note that the number of pending calls will not be updated until the callback is executed.

Definition at line 364 of file service_client.hpp.

◆ getPriority()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

TransferPriority uavcan::ServiceClient< DataType_, Callback_ >::getPriority ( ) const

inline

Priority of outgoing request transfers. The remote server is supposed to use the same priority for the response, but it's not guaranteed by the specification.

Definition at line 399 of file service_client.hpp.

◆ getRequestTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

MonotonicDuration uavcan::ServiceClient< DataType_, Callback_ >::getRequestTimeout ( ) const

inline

Request timeouts. Note that changing the request timeout will not affect calls that are already pending. There is no such config as TX timeout - TX timeouts are configured automagically according to request timeouts. Not recommended to change.

Definition at line 384 of file service_client.hpp.

◆ getResponseFailureCount()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

uint32_t uavcan::ServiceClient< DataType_, Callback_ >::getResponseFailureCount ( ) const

inline

Returns the number of failed attempts to decode received response. Generally, a failed attempt means either:

Transient failure in the transport layer.
Incompatible data types.

Definition at line 377 of file service_client.hpp.

◆ handleDeadline()

template<typename DataType_ , typename Callback_ >

void uavcan::ServiceClient< DataType_, Callback_ >::handleDeadline ( MonotonicTime )

privatevirtual

Implements uavcan::DeadlineHandler.

Definition at line 441 of file service_client.hpp.

◆ handleReceivedDataStruct()

template<typename DataType_ , typename Callback_ >

void uavcan::ServiceClient< DataType_, Callback_ >::handleReceivedDataStruct ( ReceivedDataStructure< ResponseType > & response )

privatevirtual

Definition at line 429 of file service_client.hpp.

◆ hasPendingCalls()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

bool uavcan::ServiceClient< DataType_, Callback_ >::hasPendingCalls ( ) const

inline

Complexity is O(1). Note that the number of pending calls will not be updated until the callback is executed.

Definition at line 370 of file service_client.hpp.

◆ hasPendingCallToServer()

template<typename DataType_ , typename Callback_ >

bool uavcan::ServiceClient< DataType_, Callback_ >::hasPendingCallToServer ( NodeID server_node_id ) const

Checks whether there's currently a pending call addressed to the specified node ID.

Definition at line 571 of file service_client.hpp.

◆ init() [1/2]

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

int uavcan::ServiceClient< DataType_, Callback_ >::init ( )

inline

Shall be called before first use. Returns negative error code.

Definition at line 300 of file service_client.hpp.

◆ init() [2/2]

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

int uavcan::ServiceClient< DataType_, Callback_ >::init ( TransferPriority priority )

inline

Shall be called before first use. This overload allows to set the priority, otherwise it's the same. Returns negative error code.

Definition at line 310 of file service_client.hpp.

◆ invokeCallback()

template<typename DataType_ , typename Callback_ >

void uavcan::ServiceClient< DataType_, Callback_ >::invokeCallback ( ServiceCallResultType & result )

private

Definition at line 406 of file service_client.hpp.

◆ setCallback()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

void uavcan::ServiceClient< DataType_, Callback_ >::setCallback ( const Callback & cb )

inline

Definition at line 358 of file service_client.hpp.

◆ setPriority()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

void uavcan::ServiceClient< DataType_, Callback_ >::setPriority ( const TransferPriority prio )

inline

Definition at line 400 of file service_client.hpp.

◆ setRequestTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

void uavcan::ServiceClient< DataType_, Callback_ >::setRequestTimeout ( MonotonicDuration timeout )

inline

Definition at line 385 of file service_client.hpp.

◆ shouldAcceptFrame()

template<typename DataType_ , typename Callback_ >

bool uavcan::ServiceClient< DataType_, Callback_ >::shouldAcceptFrame ( const RxFrame & frame ) const

privatevirtual

If it returns false, the frame will be ignored, otherwise accepted.

Implements uavcan::ITransferAcceptanceFilter.

Definition at line 419 of file service_client.hpp.

Member Data Documentation

◆ call_registry_

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

CallRegistry uavcan::ServiceClient< DataType_, Callback_ >::call_registry_

private

Definition at line 260 of file service_client.hpp.

◆ callback_

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

Callback uavcan::ServiceClient< DataType_, Callback_ >::callback_

private

Definition at line 263 of file service_client.hpp.

◆ publisher_

template<typename DataType_ , typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>

PublisherType uavcan::ServiceClient< DataType_, Callback_ >::publisher_

private

Definition at line 262 of file service_client.hpp.

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

service_client.hpp

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename DataType_, typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>> class uavcan::ServiceClient< DataType_, Callback_ >

Member Typedef Documentation

◆ Callback

◆ CallRegistry

◆ DataType

◆ PublisherType

◆ RequestType

◆ ResponseType

◆ SelfType

◆ ServiceCallResultType

◆ SubscriberType

Constructor & Destructor Documentation

◆ ServiceClient()

◆ ~ServiceClient()

Member Function Documentation

◆ addCallState()

◆ call() [1/2]

◆ call() [2/2]

◆ cancelAllCalls()

◆ cancelCall()

◆ getCallback()

◆ getCallIDByIndex()

◆ getNumPendingCalls()

◆ getPriority()

◆ getRequestTimeout()

◆ getResponseFailureCount()

◆ handleDeadline()

◆ handleReceivedDataStruct()

◆ hasPendingCalls()

◆ hasPendingCallToServer()

◆ init() [1/2]

◆ init() [2/2]

◆ invokeCallback()

◆ setCallback()

◆ setPriority()

◆ setRequestTimeout()

◆ shouldAcceptFrame()

Member Data Documentation

◆ call_registry_

◆ callback_

◆ publisher_

template<typename DataType_, typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>>
class uavcan::ServiceClient< DataType_, Callback_ >