Class BabelFishServiceClient

Defined in File babel_fish_service_client.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public rclcpp::ClientBase

Class Documentation

class BabelFishServiceClient : public rclcpp::ClientBase

Public Types

using SharedRequest = CompoundMessage::SharedPtr

using SharedResponse = CompoundMessage::SharedPtr

using Promise = std::promise<SharedResponse>

using PromiseWithRequest = std::promise<std::pair<SharedRequest, SharedResponse>>

using SharedPromise = std::shared_ptr<Promise>

using SharedPromiseWithRequest = std::shared_ptr<PromiseWithRequest>

using SharedFuture = std::shared_future<SharedResponse>

using SharedFutureWithRequest = std::shared_future<std::pair<SharedRequest, SharedResponse>>

using CallbackType = std::function<void(SharedFuture)>

using CallbackWithRequestType = std::function<void(const SharedFutureWithRequest&)>

Public Functions

BabelFishServiceClient(rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, const std::string &service_name, ServiceTypeSupport::ConstSharedPtr type_support, rcl_client_options_t client_options)

bool take_response(CompoundMessage &response_out, rmw_request_id_t &request_header_out)

std::shared_ptr<void> create_response() override

std::shared_ptr<rmw_request_id_t> create_request_header() override

void handle_response(const std::shared_ptr<rmw_request_id_t> &request_header, const std::shared_ptr<void> &response) override

FutureAndRequestId async_send_request(const SharedRequest &request)

template<typename CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, CallbackType>::value>::type* = nullptr> inline SharedFutureAndRequestId async_send_request(const SharedRequest &request, CallbackT &&cb)

template<typename CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, CallbackWithRequestType>::value>::type* = nullptr> inline SharedFutureWithRequestAndRequestId async_send_request(const SharedRequest &request, CallbackT &&cb)

bool remove_pending_request(int64_t request_id)

bool remove_pending_request(const FutureAndRequestId &future)

bool remove_pending_request(const SharedFutureAndRequestId &future)

bool remove_pending_request(const SharedFutureWithRequestAndRequestId &future)

size_t prune_pending_requests()

template<typename AllocatorT = std::allocator<int64_t>> inline size_t prune_requests_older_than(std::chrono::time_point<std::chrono::system_clock> time_point, std::vector<int64_t, AllocatorT> *pruned_requests = nullptr)

void configure_introspection(const rclcpp::Clock::SharedPtr &clock, const rclcpp::QoS &qos_service_event_pub, rcl_service_introspection_state_t introspection_state)

Protected Types

using CallbackTypeValueVariant = std::tuple<CallbackType, SharedFuture, Promise>

using CallbackWithRequestTypeValueVariant = std::tuple<CallbackWithRequestType, SharedRequest, SharedFutureWithRequest, PromiseWithRequest>

using CallbackInfoVariant = std::variant<Promise, CallbackTypeValueVariant, CallbackWithRequestTypeValueVariant>

Protected Functions

int64_t async_send_request_impl(const SharedRequest &request, CallbackInfoVariant value)

Protected Attributes

std::map<int64_t, std::pair<std::chrono::time_point<std::chrono::system_clock>, CallbackInfoVariant>> pending_requests_

std::mutex pending_requests_mutex_

struct FutureAndRequestId : public rclcpp::detail::FutureAndRequestId<std::future<SharedResponse>>

Public Functions

inline SharedFuture share() noexcept

struct SharedFutureAndRequestId : public rclcpp::detail::FutureAndRequestId<SharedFuture>

struct SharedFutureWithRequestAndRequestId : public rclcpp::detail::FutureAndRequestId<SharedFutureWithRequest>