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