Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSendRequest function asynchronously from multiple threads. More...
#include <service_client_interface.hpp>
Public Member Functions | |
| virtual | ~ClientInterfaceBase ()=default |
| virtual void | initialize (const std::string &service_name, std::chrono::duration< double > wait_for_server_timeout, std::chrono::duration< double > response_timeout)=0 |
| Initialize the service client. More... | |
| virtual bool | waitForServiceServer () const =0 |
| Block until the service server is ready or a timeout is exceeded. More... | |
| virtual tl::expected< typename ServiceT::Response, std::string > | syncSendRequest (const typename ServiceT::Request &request)=0 |
| Send a service request and block until the response is received or a timeout is exceeded. More... | |
| virtual void | cancelRequest ()=0 |
| Abort waiting on the service response future, if it has not yet been completed. More... | |
Detailed Description
template<typename ServiceT>
class moveit_studio::behaviors::ClientInterfaceBase< ServiceT >
Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSendRequest function asynchronously from multiple threads.
Constructor & Destructor Documentation
◆ ~ClientInterfaceBase()
|
virtualdefault |
Member Function Documentation
◆ cancelRequest()
|
pure virtual |
Abort waiting on the service response future, if it has not yet been completed.
Implemented in moveit_studio::behaviors::RclcppClientInterface< ServiceT >.
◆ initialize()
|
pure virtual |
Initialize the service client.
- Parameters
-
service_name Service name to use when initializing the client. wait_for_server_timeout Duration to wait for the service server to be available before failing. response_timeout Duration to wait for a response before failing. If the duration is negative, wait forever.
Implemented in moveit_studio::behaviors::RclcppClientInterface< ServiceT >.
◆ syncSendRequest()
|
pure virtual |
Send a service request and block until the response is received or a timeout is exceeded.
- Returns
- Returns the service response if it was received. If the timeout limit was reached before the response was received, return an error result.
Implemented in moveit_studio::behaviors::RclcppClientInterface< ServiceT >.
◆ waitForServiceServer()
|
pure virtual |
Block until the service server is ready or a timeout is exceeded.
- Returns
- True if the service server was found to be available before the timeout. False if it was not.
Implemented in moveit_studio::behaviors::RclcppClientInterface< ServiceT >.
The documentation for this class was generated from the following file:
