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

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>

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

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()

template<typename ServiceT >

virtual moveit_studio::behaviors::ClientInterfaceBase< ServiceT >::~ClientInterfaceBase ( )

virtualdefault

Member Function Documentation

cancelRequest()

template<typename ServiceT >

virtual void moveit_studio::behaviors::ClientInterfaceBase< ServiceT >::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()

template<typename ServiceT >

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

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()

template<typename ServiceT >

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

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()

template<typename ServiceT >

virtual bool moveit_studio::behaviors::ClientInterfaceBase< ServiceT >::waitForServiceServer ( ) const

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:

• service_client_interface.hpp