Function rcl_service_server_is_available

Function Documentation

rcl_ret_t rcl_service_server_is_available(const rcl_node_t *node, const rcl_client_t *client, bool *is_available)

Check if a service server is available for the given service client.

This function will return true for is_available if there is a service server available for the given client.

The node parameter must point to a valid node.

The client parameter must point to a valid client.

The given client and node must match, i.e. the client must have been created using the given node.

The is_available parameter must not be NULL, and must point a bool variable. The result of the check will be stored in the is_available parameter.

In the event that error handling needs to allocate memory, this function will try to use the node’s allocator.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

No

Lock-Free

Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters:

  • node – [in] the handle to the node being used to query the ROS graph

  • client – [in] the handle to the service client being queried

  • is_available – [out] set to true if there is a service server available, else false

Returns:

RCL_RET_OK if the check was made successfully (regardless of the service readiness), or

Returns:

RCL_RET_NODE_INVALID if the node is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.