Struct CffiService 

pub struct CffiService { /* private fields */ }

Service server backed by a C vtable.

Implementations

impl CffiService

pub fn service_name(&self) -> &str

pub fn type_name(&self) -> &str

Trait Implementations

impl Drop for CffiService

fn drop(&mut self)

Executes the destructor for this type.

fn pin_drop(self: Pin<&mut Self>)

🔬This is a nightly-only experimental API. (pin_ergonomics)

Execute the destructor for this type, but different to Drop::drop, it requires self to be pinned.

impl ServiceTrait for CffiService

fn request_subscription_actual_qos(&self) -> QoSProfile

What the REQUEST endpoint — the subscription this service takes requests on — was granted.

fn response_publisher_actual_qos(&self) -> QoSProfile

What the RESPONSE endpoint — the publisher this service answers on — was granted. Not necessarily the same profile: one request built both endpoints, and they negotiate against different peers.

type Error = TransportError

Error type for service operations

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

Phase 122.3.c.6.e — register a Waker for event-driven service servers. Mirrors the matching method on SubscriberTrait / ClientTrait. Backends that surface incoming-request notifications wake waker when has_request() flips true. Returns false when the backend cannot (issue 1940); the caller then falls back to polling. Default: false.

fn has_request(&self) -> bool

Check if a request is available without consuming it.

fn take_request<'a>( &mut self, buf: &'a mut [u8], ) -> Result<Option<ServiceRequest<'a>>, TransportError>

Try to receive a service request into buf (non-blocking).

fn refused_request_len(&self) -> Option<usize>

Issue 1632 — how many bytes the request the most recent take_request REFUSED as too big for the caller’s buffer needed.

fn request_info(&self) -> ServiceRequestInfo

Issue 1942 — the per-request metadata of the request the most recent successful take_request returned: client GID + client sequence number, and the timestamps the backend can supply.

fn send_response( &mut self, sequence_number: i64, data: &[u8], ) -> Result<(), TransportError>

Send a reply for the given sequence number. Non-blocking from the application’s perspective; the backend may queue the reply for transport-level transmission.

fn handle_request<S>( &mut self, req_buf: &mut [u8], reply_buf: &mut [u8], handler: impl FnOnce(&<S as RosService>::Request) -> <S as RosService>::Reply, ) -> Result<bool, Self::Error>

where S: RosService, Self::Error: From<TransportError>,

Handle a service request with typed messages

fn handle_request_with_info<S>( &mut self, req_buf: &mut [u8], reply_buf: &mut [u8], handler: impl FnOnce(&<S as RosService>::Request, &ServiceInfo) -> <S as RosService>::Reply, ) -> Result<bool, Self::Error>

where S: RosService, Self::Error: From<TransportError>,

Issue 1942 — handle_request, with the request’s ServiceInfo (read through request_info right after the take) handed to the handler beside it. rclrs’s (request, ServiceInfo) callback.

fn handle_request_boxed<S>( &mut self, req_buf: &mut [u8], reply_buf: &mut [u8], handler: impl FnOnce(&<S as RosService>::Request) -> Box<<S as RosService>::Reply>, ) -> Result<bool, Self::Error>

where S: RosService, Self::Error: From<TransportError>,

Handle a service request where the handler returns Box<S::Reply>

fn handle_request_raw( &mut self, req_buf: &mut [u8], reply_buf: &mut [u8], handler: impl FnOnce(&mut CdrReader<'_>, &mut CdrWriter<'_>) -> Result<(), TransportError>, ) -> Result<bool, Self::Error>

where Self::Error: From<TransportError>,

Handle one request by STREAMING: the handler reads fields off the wire and writes the reply’s fields straight back, so neither the request nor the reply is ever materialised as a value.