#include <helpers.hpp>

Inheritance diagram for uavcan_linux::BlockingServiceClient< DataType >:

[legend]

Public Member Functions
int	blockingCall (uavcan::NodeID server_node_id, const typename DataType::Request &request)

int	blockingCall (uavcan::NodeID server_node_id, const typename DataType::Request &request, uavcan::MonotonicDuration timeout)

	BlockingServiceClient (uavcan::INode &node)

const DataType::Response &	getResponse () const

bool	wasSuccessful () const

Public Member Functions inherited from uavcan::ServiceClient< DataType >
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 uavcan::ServiceClient< DataType >	Super

Private Member Functions
void	callback (const uavcan::ServiceCallResult< DataType > &res)

void	setup ()

Private Attributes
bool	call_was_successful_

DataType::Response	response_

Additional Inherited Members
Public Types inherited from uavcan::ServiceClient< DataType >
typedef std::function< void(const ServiceCallResult< DataType > &)>	Callback

typedef DataType	DataType

typedef DataType::Request	RequestType

typedef DataType::Response	ResponseType

typedef ServiceCallResult< DataType >	ServiceCallResultType

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>
class uavcan_linux::BlockingServiceClient< DataType >

Wrapper over uavcan::ServiceClient<> for blocking calls. Blocks on uavcan::Node::spin() internally until the call is complete.

Definition at line 37 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

Member Typedef Documentation

◆ Super

template<typename DataType >

typedef uavcan::ServiceClient<DataType> uavcan_linux::BlockingServiceClient< DataType >::Super

private

Definition at line 39 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

Constructor & Destructor Documentation

◆ BlockingServiceClient()

template<typename DataType >

uavcan_linux::BlockingServiceClient< DataType >::BlockingServiceClient ( uavcan::INode & node )

inline

Definition at line 58 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

Member Function Documentation

◆ blockingCall() [1/2]

template<typename DataType >

int uavcan_linux::BlockingServiceClient< DataType >::blockingCall	(	uavcan::NodeID	server_node_id,
		const typename DataType::Request &	request
	)

inline

Performs a blocking service call using default timeout (see the specs). Use getResponse() to get the actual response. Returns negative error code.

Definition at line 70 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ blockingCall() [2/2]

template<typename DataType >

int uavcan_linux::BlockingServiceClient< DataType >::blockingCall	(	uavcan::NodeID	server_node_id,
		const typename DataType::Request &	request,
		uavcan::MonotonicDuration	timeout
	)

inline

Performs a blocking service call using the specified timeout. Please consider using default timeout instead. Use getResponse() to get the actual response. Returns negative error code.

Definition at line 80 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ callback()

template<typename DataType >

void uavcan_linux::BlockingServiceClient< DataType >::callback ( const uavcan::ServiceCallResult< DataType > & res )

inlineprivate

Definition at line 44 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ getResponse()

template<typename DataType >

const DataType::Response& uavcan_linux::BlockingServiceClient< DataType >::getResponse ( ) const

inline

Use this to retrieve the response of the last blocking service call. This method returns default constructed response object if the last service call was unsuccessful.

Definition at line 110 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.