moveit_studio::behaviors::RclcppClientInterface< ServiceT > Class Template Reference

Implements ClientInterfaceBase for the rclcpp service client. More...

#include <service_client_interface.hpp>

Inheritance diagram for moveit_studio::behaviors::RclcppClientInterface< ServiceT >:

Collaboration diagram for moveit_studio::behaviors::RclcppClientInterface< ServiceT >:

Public Member Functions
	RclcppClientInterface (const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for this implementation. More...
void	initialize (const std::string &service_name, std::chrono::duration< double > wait_for_server_timeout, std::chrono::duration< double > result_timeout) override
	Implementation of ClientInterfaceBase::initialize for an rclcpp service client. More...
bool	waitForServiceServer () const override
	Implementation of ClientInterfaceBase::waitForServiceServer for an rclcpp service client. More...
tl::expected< typename ServiceT::Response, std::string >	syncSendRequest (const typename ServiceT::Request &request) override
	Implementation of ClientInterfaceBase::syncGetResult for an rclcpp service client. More...
void	cancelRequest () override
	Implementation of ClientInterfaceBase::cancelRequest for an rclcpp service client. More...
Public Member Functions inherited from moveit_studio::behaviors::ClientInterfaceBase< ServiceT >
virtual	~ClientInterfaceBase ()=default

Static Public Attributes
static constexpr std::chrono::milliseconds	kResponseBusyWaitPeriod { 100 }

Detailed Description

template<typename ServiceT>
class moveit_studio::behaviors::RclcppClientInterface< ServiceT >

Implements ClientInterfaceBase for the rclcpp service client.

Constructor & Destructor Documentation

RclcppClientInterface()

template<typename ServiceT >

moveit_studio::behaviors::RclcppClientInterface< ServiceT >::RclcppClientInterface ( const std::shared_ptr< BehaviorContext > &  shared_resources )

explicit

Constructor for this implementation.

Parameters

shared_resources

A shared_ptr to an instance of BehaviorContext. When this behavior is created using

Member Function Documentation

cancelRequest()

template<typename ServiceT >

void moveit_studio::behaviors::RclcppClientInterface< ServiceT >::cancelRequest

overridevirtual

Implementation of ClientInterfaceBase::cancelRequest for an rclcpp service client.

Aborts the busy-waiting request loop causing it to return (almost) immediately.

Implements moveit_studio::behaviors::ClientInterfaceBase< ServiceT >.

initialize()

template<typename ServiceT >

void moveit_studio::behaviors::RclcppClientInterface< ServiceT >::initialize ( const std::string &  service_name, std::chrono::duration< double >  wait_for_server_timeout, std::chrono::duration< double >  result_timeout  )

overridevirtual

Implementation of ClientInterfaceBase::initialize for an rclcpp service client.

Sets client_ to a new service client instance

Implements moveit_studio::behaviors::ClientInterfaceBase< ServiceT >.

syncSendRequest()

template<typename ServiceT >

tl::expected< typename ServiceT::Response, std::string > moveit_studio::behaviors::RclcppClientInterface< ServiceT >::syncSendRequest ( const typename ServiceT::Request &  request )

overridevirtual

Implementation of ClientInterfaceBase::syncGetResult for an rclcpp service client.

Calls the service client's async_send_request function and blocks while waiting on the future which it returns.

Implements moveit_studio::behaviors::ClientInterfaceBase< ServiceT >.

waitForServiceServer()

template<typename ServiceT >

bool moveit_studio::behaviors::RclcppClientInterface< ServiceT >::waitForServiceServer

overridevirtual

Implementation of ClientInterfaceBase::waitForServiceServer for an rclcpp service client.

Calls the service client's wait_for_service function.

Implements moveit_studio::behaviors::ClientInterfaceBase< ServiceT >.

Member Data Documentation

kResponseBusyWaitPeriod

template<typename ServiceT >

constexpr std::chrono::milliseconds moveit_studio::behaviors::RclcppClientInterface< ServiceT >::kResponseBusyWaitPeriod { 100 }

staticconstexpr

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

• service_client_interface.hpp
• service_client_interface_impl.hpp