Struct RawServiceClient 

pub struct RawServiceClient<const REQ_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }, const REPLY_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }> { /* private fields */ }

Typeless service-client handle. L1 counterpart of EmbeddedServiceClient for the same audience as RawServiceServer.

Implementations

impl<const REQ_BUF: usize, const REPLY_BUF: usize> RawServiceClient<REQ_BUF, REPLY_BUF>

pub fn register_waker(&self, waker: &Waker) -> bool

Phase 122.3.c.6.e — register a Waker that fires when the reply to a previously-sent request lands. Returns false on a backend that cannot wake (issue 1940).

pub fn new(handle: RmwServiceClient) -> Self

Construct from a backend-allocated handle. Same audience as RawServiceServer::new.

pub fn request_publisher_actual_qos(&self) -> QoSProfile

The QoS the backend GRANTED this client’s REQUEST endpoint — issue 1437. The client-side mirror of RawServiceServer::request_subscription_actual_qos: same topic pair, the other end of it, and the two need not agree.

pub fn response_subscription_actual_qos(&self) -> QoSProfile

The QoS the backend GRANTED this client’s RESPONSE endpoint — issue 1437. See request_publisher_actual_qos.

pub fn send_request_raw(&mut self, request: &[u8]) -> Result<i64, NodeError>

Send a raw CDR request. Non-blocking; the reply arrives via take_response_raw.

Returns the SEQUENCE ID the backend assigned (issue 2009), which the reply carries back. This handle keeps no table: a caller with more than one request outstanding matches the id itself — the shape of upstream’s rcl_send_request(client, req, &sequence_number). It is nros_rmw::SEQUENCE_ID_UNKNOWN on a backend that cannot assign ids.

pub fn service_is_ready(&self) -> Result<bool, NodeError>

Phase 124.G.3 — graph-aware “is the matching server up?” probe. Mirrors EmbeddedServiceClient::service_is_ready for the raw API.

pub fn take_response_raw(&mut self) -> Result<Option<(usize, i64)>, NodeError>

Try to receive a reply (non-blocking). Returns Ok(Some((len, sequence_id))) on success; bytes live in reply_buffer until the next call, and sequence_id is the one send_request_raw returned for the request this answers (issue 2009) — upstream’s rcl_take_response request header.

pub fn reply_buffer(&self) -> &[u8]

Borrow the inline reply buffer. Valid after a successful take_response_raw call.

pub fn service_name(&self) -> &str

The service this client was created on — see EmbeddedPublisher::topic_name. phase-444.