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>

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.
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.
bool	isValid () const
	Returns whether this client is still valid, ie. its connection has not been dropped.
	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()
void	cancelCall (const CallInfoPtr &info)
	Cancel a queued call, notifying it that it has failed.
void	clearCalls ()
	Clear all calls, notifying them that they've failed.
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.
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 58 of file service_server_link.h.

Member Typedef Documentation

typedef boost::shared_ptr<CallInfo> ros::ServiceServerLink::CallInfoPtr [private]

Definition at line 76 of file service_server_link.h.

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

Definition at line 80 of file service_server_link.h.

typedef std::queue<CallInfoPtr> ros::ServiceServerLink::Q_CallInfo [private]

Definition at line 77 of file service_server_link.h.

Constructor & Destructor Documentation

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.

ros::ServiceServerLink::~ServiceServerLink ( ) [virtual]

Definition at line 63 of file service_server_link.cpp.

Member Function Documentation

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 324 of file service_server_link.cpp.

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 248 of file service_server_link.cpp.

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.

void ros::ServiceServerLink::clearCalls ( ) [private]

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

Definition at line 88 of file service_server_link.cpp.

const ConnectionPtr& ros::ServiceServerLink::getConnection ( ) const [inline]

Definition at line 96 of file service_server_link.h.

const std::string& ros::ServiceServerLink::getRequestMD5Sum ( ) const [inline]

Definition at line 99 of file service_server_link.h.

const std::string& ros::ServiceServerLink::getResponseMD5Sum ( ) const [inline]

Definition at line 100 of file service_server_link.h.

const std::string& ros::ServiceServerLink::getServiceName ( ) const [inline]

Definition at line 98 of file service_server_link.h.

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

Definition at line 114 of file service_server_link.cpp.

bool ros::ServiceServerLink::isPersistent ( ) const [inline]

Returns whether this is a persistent connection.

Definition at line 94 of file service_server_link.h.

bool ros::ServiceServerLink::isValid ( ) const

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

Definition at line 379 of file service_server_link.cpp.

void ros::ServiceServerLink::onConnectionDropped ( const ConnectionPtr & conn ) [private]

Definition at line 167 of file service_server_link.cpp.

bool ros::ServiceServerLink::onHeaderReceived	(	const ConnectionPtr &	conn,
		const Header &	header
	)		`[private]`

Definition at line 137 of file service_server_link.cpp.

void ros::ServiceServerLink::onHeaderWritten ( const ConnectionPtr & conn ) [private]

Definition at line 132 of file service_server_link.cpp.

void ros::ServiceServerLink::onRequestWritten ( const ConnectionPtr & conn ) [private]

Definition at line 178 of file service_server_link.cpp.

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

Definition at line 225 of file service_server_link.cpp.

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