Implementation of Managed class for ros::ServiceServer. More...

#include <managed_serviceserver.h>

Inheritance diagram for robot_activity::resource::ManagedServiceServer:

Public Types
template<typename... Args>
using	ServiceCallback = boost::function< bool(Args...)>
	Typedef for ROS service callbacks. More...

Public Types inherited from robot_activity::resource::Managed< ManagedServiceServer, ros::ServiceServer >
typedef std::shared_ptr< Managed< ManagedServiceServer, ros::ServiceServer > >	SharedPtr

Public Member Functions
void	advertiseService (const ros::NodeHandlePtr &node_handle)
	Advertises the ROS service given a node handle. More...

template<class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, const ServiceCallback< MReq &, MRes & > &callback, const ros::VoidConstPtr &tracked_object=ros::VoidConstPtr()) const
	Creates a function that advertises a ROS service when called. More...

template<class ServiceEvent >
LazyAcquirer	makeLazyAcquirer (const std::string &service, const ServiceCallback< ServiceEvent & > &callback, const ros::VoidConstPtr &tracked_object=ros::VoidConstPtr()) const
	Creates a function that advertises a ROS service when called. More...

template<class T , class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, bool(T::srv_func)(MReq &, MRes &), T obj) const
	Creates a function that advertises a ROS service when called. More...

template<class T , class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, bool(T::srv_func)(ros::ServiceEvent< MReq, MRes > &), T obj) const
	Creates a function that advertises a ROS service when called. More...

template<class T , class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, bool(T::*srv_func)(MReq &, MRes &), const boost::shared_ptr< T > &obj) const
	Creates a function that advertises a ROS service when called. More...

template<class T , class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, bool(T::*srv_func)(ros::ServiceEvent< MReq, MRes > &), const boost::shared_ptr< T > &obj) const
	Creates a function that advertises a ROS service when called. More...

template<class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, bool(*srv_func)(MReq &, MRes &)) const
	Creates a function that advertises a ROS service when called. More...

template<class MReq , class MRes >
LazyAcquirer	makeLazyAcquirer (const std::string &service, bool(*srv_func)(ros::ServiceEvent< MReq, MRes > &)) const
	Creates a function that advertises a ROS service when called. More...

void	shutdown ()
	Shutdowns the ROS service. More...

Public Member Functions inherited from robot_activity::resource::Managed< ManagedServiceServer, ros::ServiceServer >
void	acquire (const ros::NodeHandlePtr &node_handle)
	Acquires the resource if it's not already acquired. More...

	Managed ()=delete
	Default empty constructor is deleted. More...

	Managed (Args &&...args)
	Variadic constructor. More...

void	pause ()
	Pauses the resource. More...

void	release ()
	Releases the resource if it's already acquired. shutdown() method in case of ros::Subscriber and ros::ServiceServer. More...

void	resume ()
	Resumes the resource. More...

	~Managed ()
	Destructor. More...

Private Member Functions
template<typename... Args>
ServiceCallback< Args... >	wrapServiceCallback (const ServiceCallback< Args... > &callback) const
	Wraps the service callback. More...

Additional Inherited Members
Protected Types inherited from robot_activity::resource::Managed< ManagedServiceServer, ros::ServiceServer >
typedef std::function< ros::ServiceServer(const ros::NodeHandlePtr &)>	LazyAcquirer

Protected Member Functions inherited from robot_activity::resource::Managed< ManagedServiceServer, ros::ServiceServer >
LazyAcquirer	makeLazyAcquirer (Args &&...args) const
	Lazily acquires a resource. More...

Protected Attributes inherited from robot_activity::resource::Managed< ManagedServiceServer, ros::ServiceServer >
std::atomic< bool >	acquired_
	Atomic flag specifing whether the resource is acquired or not. More...

LazyAcquirer	lazy_acquirer_
	Function that will acquire the resource upon calling with a node handle. More...

std::atomic< bool >	paused_
	Atomic flag specifing whether the resource is paused or not. More...

ros::ServiceServer	resource_
	The actual resource controlled by this class. More...

Detailed Description

Implementation of Managed class for ros::ServiceServer.

Adds additional functionality to ros::ServiceServer resource by wrapping it. The service server can be shutdowned, advertised and paused. Shutting down has the same effect as in ROS, while advertising does not require any arguments, since they are passed in the inherited constructor. Pausing the service, will cause the callback to return false immediately.

Definition at line 71 of file managed_serviceserver.h.

Member Typedef Documentation

template<typename... Args>

using robot_activity::resource::ManagedServiceServer::ServiceCallback = boost::function<bool(Args...)>

Typedef for ROS service callbacks.

Template Parameters

Callback arguments

Definition at line 124 of file managed_serviceserver.h.

Member Function Documentation

void robot_activity::resource::ManagedServiceServer::advertiseService ( const ros::NodeHandlePtr & node_handle )

inline

Advertises the ROS service given a node handle.

Since the ROS service is fully desribed upon instantiation, advertising only requires a node handle. The function is idempotent and can be called multiple times without any side-effect. The service can also be re-advertised after being shutdowned without respecifying arguments describing the service.

Parameters

node_handle Node handle required for the actual call to ros::NodeHandle::advertiseService embedded inside

Definition at line 102 of file managed_serviceserver.h.

template<class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		const ServiceCallback< MReq &, MRes & > &	callback,
		const ros::VoidConstPtr &	tracked_object = `ros::VoidConstPtr()`
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
callback	Service callback specified as boost::function accepting two arguments
tracked_object	Object to be tracked, whose destruction will terminate the service

Template Parameters

MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 142 of file managed_serviceserver.h.

template<class ServiceEvent >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		const ServiceCallback< ServiceEvent & > &	callback,
		const ros::VoidConstPtr &	tracked_object = `ros::VoidConstPtr()`
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
callback	Service callback specified as boost::function accepting one argument
tracked_object	Object to be tracked, whose destruction will terminate the service

Template Parameters

ServiceEvent Service callback's event message type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 173 of file managed_serviceserver.h.

template<class T , class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		bool(T::*)(MReq &, MRes &)	srv_func,
		T *	obj
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
srv_func	Pointer to a member function of class T, which accepts two arguments: message request and response and returns a bool
obj	Object to be used when calling the pointed function

Template Parameters

T	Class, where the member function is defined
MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 206 of file managed_serviceserver.h.

template<class T , class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		bool(T::*)(ros::ServiceEvent< MReq, MRes > &)	srv_func,
		T *	obj
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
srv_func	Pointer to a member function of class T, which accepts one argument: service event and returns a bool
obj	Raw pointer to the object to be used when calling the pointed function

Template Parameters

T	Class, where the member function is defined
MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 233 of file managed_serviceserver.h.

template<class T , class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		bool(T::*)(MReq &, MRes &)	srv_func,
		const boost::shared_ptr< T > &	obj
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
srv_func	Pointer to a member function of class T, which accepts two arguments: message request and response and returns a bool
obj	boost::shared_ptr to the object to be used when calling the pointed function, it will also be treated as the tracked object, whose destruction will trigger a service shutdown

Template Parameters

T	Class, where the the member function is defined
MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 263 of file managed_serviceserver.h.

template<class T , class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		bool(T::*)(ros::ServiceEvent< MReq, MRes > &)	srv_func,
		const boost::shared_ptr< T > &	obj
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
srv_func	Pointer to a member function of class T, which accepts one argument: a service event and returns a bool
obj	boost::shared_ptr to the object to be used when calling the pointed function, it will also be treated as the tracked object, whose destruction will trigger a service shutdown

Template Parameters

T	Class, where the the member function is defined
MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 292 of file managed_serviceserver.h.

template<class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		bool(*)(MReq &, MRes &)	srv_func
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
srv_func	Pointer to a function, which accepts two arguments: message request and response and returns a bool

Template Parameters

MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 318 of file managed_serviceserver.h.

template<class MReq , class MRes >

LazyAcquirer robot_activity::resource::ManagedServiceServer::makeLazyAcquirer	(	const std::string &	service,
		bool(*)(ros::ServiceEvent< MReq, MRes > &)	srv_func
	)		const

inline

Creates a function that advertises a ROS service when called.

Returns a lambda, which given a node handle will advertise the ROS service. This lambda is called during advertiseService call and the result is assigned as the managed resource, which in this case is ros::ServiceServer

Parameters

service	Name of the service to be advertised
srv_func	Pointer to a function, which accepts one argument: service event and returns a bool

Template Parameters

MReq	Service callback's message request type
MRes	Service callback's message response type

Returns: Lambda, which return a ros::ServiceServer

Definition at line 341 of file managed_serviceserver.h.

void robot_activity::resource::ManagedServiceServer::shutdown ( )

inline

Shutdowns the ROS service.

Has the same effect as ros::ServiceServer::shutdown function if the service was advertised, otherwise does not have any effect

Definition at line 113 of file managed_serviceserver.h.

template<typename... Args>

ServiceCallback<Args...> robot_activity::resource::ManagedServiceServer::wrapServiceCallback ( const ServiceCallback< Args... > & callback ) const

inlineprivate

Wraps the service callback.

Allows for pausing/resuming the servce by adding a check at run-time. If paused, the service will return false immediately.

Parameters

callback [description]

Returns: [description]

Definition at line 386 of file managed_serviceserver.h.

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

managed_serviceserver.h

Public Types

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation