Class: Rclrb::Service

Inherits:
Object
  • Object
show all
Defined in:
lib/rclrb/service.rb

Overview

Represent a ROS service

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(service_handle, node_handle, srv_type, srv_name, callback, qos_profile, callback_group) ⇒ Service

Construct a new service, this should not be called directly, instead use Node.create_service.



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# File 'lib/rclrb/service.rb', line 7

def initialize(service_handle, node_handle, srv_type, srv_name, callback, qos_profile, callback_group)
  @service_handle = service_handle
  @srv_type = srv_type
  @srv_name = srv_name
  @callback = callback
  @callback_group = callback_group
  @qos_profile = qos_profile
  callback_group.add self

  service_ops = CApi.rcl_service_get_default_options()
  service_ops[:qos] = QoSProfile.get_profile(qos_profile).ros_profile
  CApi.handle_result CApi.rcl_service_init(@service_handle, node_handle, srv_type.type_support(), @srv_name, service_ops)
  Rclrb.rcl_signal_guard_condition.trigger
end

Instance Attribute Details

#service_handle ⇒ Object (readonly)

Returns the value of attribute service_handle.



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# File 'lib/rclrb/service.rb', line 5

def service_handle
  @service_handle
end

#srv_type ⇒ Object (readonly)

Returns the value of attribute srv_type.



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# File 'lib/rclrb/service.rb', line 5

def srv_type
  @srv_type
end

Instance Method Details

#spin(wait_set = nil) ⇒ Object 



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# File 'lib/rclrb/service.rb', line 26

def spin(wait_set = nil)
  wait_set.add self if wait_set
  request_id = CApi::RmwRequestIdT.new
  ros_req = @srv_type::Request::FFIType.new
  status = CApi.rcl_take_request @service_handle, request_id, ros_req

  if status == CApi::RCL_RET_OK
    request = @srv_type::Request.parse_ros_message ros_req
    @srv_type::Request.destroy_ros_message ros_req
    response = @srv_type::Response.new
    @callback.call request, response
    ros_resp = @srv_type::Response.get_ros_message response
    CApi.handle_result CApi.rcl_send_response(@service_handle, request_id, ros_resp), lambda { @srv_type::Response.destroy_ros_message ros_resp}

  elsif status == CApi::RCL_RET_SERVICE_TAKE_FAILED
    # no service received
  else
    CApi.handle_result(status)
  end
end