service.hpp File Reference

rclcpp::Service<S> — the arena-registered (callback-style) service server, and Service<S>::SharedPtr = rclcpp::ServiceHandle<S>. More...

#include <cstdint>
#include <cstddef>
#include "rclcpp/detail/callback_context.hpp"
#include "rclcpp/detail/config.hpp"
#include "rclcpp/detail/entity_name.hpp"
#include "rclcpp/result.hpp"
#include "rclcpp/service_handle.hpp"
#include "rclcpp/size_bound.hpp"
#include "rclcpp/detail/nros_cpp_ffi.h"
#include "rclcpp/qos.hpp"
#include "rclcpp/detail/rmw_request_id.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/inplace_fn.hpp"

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Classes
class	rclcpp::Service< S >

Namespaces
namespace	rclcpp

Typedefs
typedef bool(*	nros_cpp_service_request_callback_t) (const uint8_t *req, size_t req_len, uint8_t *resp, size_t resp_cap, size_t *resp_len, void *ctx)
typedef bool(*	nros_cpp_service_request_id_callback_t) (const uint8_t *req, size_t req_len, rmw_request_id_t *request_id, uint8_t *resp, size_t resp_cap, size_t *resp_len, void *ctx)
	Issue 2081 — a service trampoline that also receives the request's id.

Functions
nros_cpp_ret_t	nros_cpp_service_server_register (const nros_cpp_node_t *node, const char *service_name, const char *type_name, const char *type_hash, nros_cpp_qos_t qos, nros_cpp_service_request_callback_t callback, void *context, uint8_t sched_context, size_t *out_handle_id)
nros_cpp_ret_t	nros_cpp_service_server_register_capturing (const nros_cpp_node_t *node, const char *service_name, const char *type_name, const char *type_hash, nros_cpp_qos_t qos, nros_cpp_service_request_callback_t callback, const uint8_t *capture, size_t capture_len, void(*capture_drop)(void *), uint8_t sched_context, size_t *out_handle_id)
nros_cpp_ret_t	nros_cpp_service_server_register_with_request_id (const nros_cpp_node_t *node, const char *service_name, const char *type_name, const char *type_hash, nros_cpp_qos_t qos, nros_cpp_service_request_id_callback_t callback, void *context, const uint8_t *capture, size_t capture_len, void(*capture_drop)(void *), uint8_t sched_context, size_t *out_handle_id)

Detailed Description

rclcpp::Service<S> — the arena-registered (callback-style) service server, and Service<S>::SharedPtr = rclcpp::ServiceHandle<S>.

The POLL-style server — caller-owned storage, take_request() / send_response() — is rclcpp::PollService<S> in rclcpp/polling_service.hpp since phase-456 W5. See there for why the two are separate types.

Typedef Documentation

nros_cpp_service_request_callback_t

typedef bool(* nros_cpp_service_request_callback_t) (const uint8_t *req, size_t req_len, uint8_t *resp, size_t resp_cap, size_t *resp_len, void *ctx)

nros_cpp_service_request_id_callback_t

typedef bool(* nros_cpp_service_request_id_callback_t) (const uint8_t *req, size_t req_len, rmw_request_id_t *request_id, uint8_t *resp, size_t resp_cap, size_t *resp_len, void *ctx)

Issue 2081 — a service trampoline that also receives the request's id.

Function Documentation

nros_cpp_service_server_register()

nros_cpp_ret_t nros_cpp_service_server_register	(	const nros_cpp_node_t *	node,
		const char *	service_name,
		const char *	type_name,
		const char *	type_hash,
		nros_cpp_qos_t	qos,
		nros_cpp_service_request_callback_t	callback,
		void *	context,
		uint8_t	sched_context,
		size_t *	out_handle_id )

nros_cpp_service_server_register_capturing()

nros_cpp_ret_t nros_cpp_service_server_register_capturing	(	const nros_cpp_node_t *	node,
		const char *	service_name,
		const char *	type_name,
		const char *	type_hash,
		nros_cpp_qos_t	qos,
		nros_cpp_service_request_callback_t	callback,
		const uint8_t *	capture,
		size_t	capture_len,
		void(*	capture_drop )(void *),
		uint8_t	sched_context,
		size_t *	out_handle_id )

nros_cpp_service_server_register_with_request_id()

nros_cpp_ret_t nros_cpp_service_server_register_with_request_id	(	const nros_cpp_node_t *	node,
		const char *	service_name,
		const char *	type_name,
		const char *	type_hash,
		nros_cpp_qos_t	qos,
		nros_cpp_service_request_id_callback_t	callback,
		void *	context,
		const uint8_t *	capture,
		size_t	capture_len,
		void(*	capture_drop )(void *),
		uint8_t	sched_context,
		size_t *	out_handle_id )