Class: ROS::ServiceServer

Inherits:
Service
  • Object
show all
Defined in:
lib/ros/service_server.rb

Overview

server of ROS Service. Node#advertise_service return a instance of this class. Service can be shutdown by #shutdown. This class uses TCPROS::ServiceServer for data transfer.

Examples:

node = ROS::Node.new('/rosruby/sample_service_server')
server = node.advertise_service('/add_two_ints', Roscpp_tutorials::TwoInts) do |req, res|
  res.sum = req.a + req.b
  node.loginfo("a=#{req.a}, b=#{req.b}")
  node.loginfo("  sum = #{res.sum}")
  true
end
while node.ok?
  sleep (1.0)
end

Instance Attribute Summary collapse

Attributes inherited from Service

#caller_id, #service_name, #service_type

Instance Method Summary collapse

Constructor Details

#initialize(caller_id, service_name, service_type, callback) ⇒ ServiceServer

Returns a new instance of ServiceServer.

Parameters:

  • caller_id (String) —

    caller id of this node

  • service_name (String) —

    name of this service (String)

  • service_type (Class) —

    class of srv

  • callback (Proc) —

    callback object of this service.



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# File 'lib/ros/service_server.rb', line 36

def initialize(caller_id, service_name, service_type, callback)
  super(caller_id, service_name, service_type)
  @callback = callback
  @server = TCPROS::ServiceServer.new(@caller_id,
                                      @service_name,
                                      @service_type,
                                      self)
  @server.start
  @num_request = 0
end

Instance Attribute Details

#num_request ⇒ Integer (readonly)

Returns how many times this service called.

Returns:

  • (Integer) —

    how many times this service called



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# File 'lib/ros/service_server.rb', line 90

def num_request
  @num_request
end

Instance Method Details

#call(request, response) ⇒ Boolean

execute the service callback. User should not call this directly.

Parameters:

  • request (Message) —

    srv Request instance

  • response (Message) —

    srv Response instance

Returns:

  • (Boolean) —

    callback result



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# File 'lib/ros/service_server.rb', line 53

def call(request, response)
  @num_request += 1
  @callback.call(request, response)
end

#close ⇒ Object

user should not call this method. Please use shutdown method.



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# File 'lib/ros/service_server.rb', line 67

def close #:nodoc:
  @server.shutdown
end

#get_connection_data ⇒ Array

Returns connection data.

Returns:

  • (Array) —

    connection data



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# File 'lib/ros/service_server.rb', line 85

def get_connection_data
  [@num_request, @server.byte_received, @server.byte_sent]
end

#service_uri ⇒ String

URI of this service (rosrpc://**)

Returns:

  • (String) —

    rosrpc service uri



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# File 'lib/ros/service_server.rb', line 60

def service_uri
  'rosrpc://' + @server.host + ':' + @server.port.to_s
end

#set_manager(manager) ⇒ Object

set GraphManager for shutdown

Parameters:



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# File 'lib/ros/service_server.rb', line 80

def set_manager(manager) #:nodoc:
  @manager = manager
end

#shutdown ⇒ Object

shutdown the service connection



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# File 'lib/ros/service_server.rb', line 74

def shutdown
  @manager.shutdow_service_server(self)
end