#include <service_server.hpp>

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

[legend]

Public Types
typedef Callback_	Callback

typedef DataType_	DataType

typedef DataType::Request	RequestType

typedef DataType::Response	ResponseType

Public Member Functions
uint32_t	getRequestFailureCount () const

uint32_t	getResponseFailureCount () const

MonotonicDuration	getTxTimeout () const

	ServiceServer (INode &node)

void	setTxTimeout (MonotonicDuration tx_timeout)

int	start (const Callback &callback)

void	stop ()

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

INode &	getNode () const

Static Public Member Functions
static MonotonicDuration	getDefaultTxTimeout ()

static MonotonicDuration	getMaxTxTimeout ()

static MonotonicDuration	getMinTxTimeout ()

Private Types
typedef GenericPublisher< DataType, ResponseType >	PublisherType

typedef GenericSubscriber< DataType, RequestType, TransferListener >	SubscriberType

Private Member Functions
virtual void	handleReceivedDataStruct (ReceivedDataStructure< RequestType > &request)

Private Attributes
Callback	callback_

PublisherType	publisher_

uint32_t	response_failure_count_

Additional Inherited Members
Protected Member Functions inherited from uavcan::GenericSubscriber< DataType_, DataType_::Request, TransferListener >
void	allowAnonymousTransfers ()

	GenericSubscriber (INode &node)

TransferListener *	getTransferListener ()

virtual void	handleReceivedDataStruct (ReceivedDataStructure< DataType_::Request > &)=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 Attributes inherited from uavcan::GenericSubscriberBase
uint32_t	failure_count_

INode &	node_

Detailed Description

template<typename DataType_, typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>
class uavcan::ServiceServer< DataType_, Callback_ >

Use this class to implement UAVCAN service servers.

Note that the references passed to the callback may point to stack-allocated objects, which means that the references get invalidated once the callback returns.

Template Parameters

DataType_ Service data type.

Callback_ Service calls will be delivered through the callback of this type, and service response will be returned via the output parameter of the callback. Note that the reference to service response data struct passed to the callback always points to a default initialized response object. Please also refer to ReceivedDataStructure<> and ServiceResponseDataStructure<>. 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 90 of file service_server.hpp.

Member Typedef Documentation

◆ Callback

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

Definition at line 97 of file service_server.hpp.

◆ DataType

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

Definition at line 94 of file service_server.hpp.

◆ PublisherType

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

typedef GenericPublisher<DataType, ResponseType> uavcan::ServiceServer< DataType_, Callback_ >::PublisherType

private

Definition at line 101 of file service_server.hpp.

◆ RequestType

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

Definition at line 95 of file service_server.hpp.

◆ ResponseType

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

Definition at line 96 of file service_server.hpp.

◆ SubscriberType

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

typedef GenericSubscriber<DataType, RequestType, TransferListener> uavcan::ServiceServer< DataType_, Callback_ >::SubscriberType

private

Definition at line 100 of file service_server.hpp.

Constructor & Destructor Documentation

◆ ServiceServer()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

uavcan::ServiceServer< DataType_, Callback_ >::ServiceServer ( INode & node )

inlineexplicit

Definition at line 143 of file service_server.hpp.

Member Function Documentation

◆ getDefaultTxTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

static MonotonicDuration uavcan::ServiceServer< DataType_, Callback_ >::getDefaultTxTimeout ( )

inlinestatic

Definition at line 183 of file service_server.hpp.

◆ getMaxTxTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

static MonotonicDuration uavcan::ServiceServer< DataType_, Callback_ >::getMaxTxTimeout ( )

inlinestatic

Definition at line 185 of file service_server.hpp.

◆ getMinTxTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

static MonotonicDuration uavcan::ServiceServer< DataType_, Callback_ >::getMinTxTimeout ( )

inlinestatic

Definition at line 184 of file service_server.hpp.

◆ getRequestFailureCount()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

uint32_t uavcan::ServiceServer< DataType_, Callback_ >::getRequestFailureCount ( ) const

inline

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

Transient failure in the transport layer.
Incompatible data types.

Definition at line 195 of file service_server.hpp.

◆ getResponseFailureCount()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

inline

Definition at line 196 of file service_server.hpp.

◆ getTxTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

MonotonicDuration uavcan::ServiceServer< DataType_, Callback_ >::getTxTimeout ( ) const

inline

Definition at line 187 of file service_server.hpp.

◆ handleReceivedDataStruct()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

virtual void uavcan::ServiceServer< DataType_, Callback_ >::handleReceivedDataStruct ( ReceivedDataStructure< RequestType > & request )

inlineprivatevirtual

Definition at line 107 of file service_server.hpp.

◆ setTxTimeout()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

void uavcan::ServiceServer< DataType_, Callback_ >::setTxTimeout ( MonotonicDuration tx_timeout )

inline

Definition at line 188 of file service_server.hpp.

◆ start()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

int uavcan::ServiceServer< DataType_, Callback_ >::start ( const Callback & callback )

inline

Starts the server. Incoming service requests will be passed to the application via the callback.

Definition at line 158 of file service_server.hpp.

◆ stop()

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

void uavcan::GenericSubscriber< DataSpec, DataStruct, TransferListenerType >::stop

inline

Stops the server.

Definition at line 213 of file generic_subscriber.hpp.

Member Data Documentation

◆ callback_

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

private

Definition at line 104 of file service_server.hpp.

◆ publisher_

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

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

private

Definition at line 103 of file service_server.hpp.

◆ response_failure_count_

template<typename DataType_ , typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>

uint32_t uavcan::ServiceServer< DataType_, Callback_ >::response_failure_count_

private

Definition at line 105 of file service_server.hpp.

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

service_server.hpp

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename DataType_, typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>> class uavcan::ServiceServer< DataType_, Callback_ >

Member Typedef Documentation

◆ Callback

◆ DataType

◆ PublisherType

◆ RequestType

◆ ResponseType

◆ SubscriberType

Constructor & Destructor Documentation

◆ ServiceServer()

Member Function Documentation

◆ getDefaultTxTimeout()

◆ getMaxTxTimeout()

◆ getMinTxTimeout()

◆ getRequestFailureCount()

◆ getResponseFailureCount()

◆ getTxTimeout()

◆ handleReceivedDataStruct()

◆ setTxTimeout()

◆ start()

◆ stop()

Member Data Documentation

◆ callback_

◆ publisher_

◆ response_failure_count_

template<typename DataType_, typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&, ServiceResponseDataStructure<typename DataType_::Response>&)>>
class uavcan::ServiceServer< DataType_, Callback_ >