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node_services.cpp
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86 lines (76 loc) · 2.79 KB
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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "rclcpp/node_interfaces/node_services.hpp"
#include <string>
using rclcpp::node_interfaces::NodeServices;
NodeServices::NodeServices(rclcpp::node_interfaces::NodeBaseInterface * node_base)
: node_base_(node_base)
{}
NodeServices::~NodeServices()
{}
void
NodeServices::add_service(
rclcpp::ServiceBase::SharedPtr service_base_ptr,
rclcpp::CallbackGroup::SharedPtr group)
{
if (group) {
if (!node_base_->callback_group_in_node(group)) {
// TODO(jacquelinekay): use custom exception
throw std::runtime_error("Cannot create service, group not in node.");
}
group->add_service(service_base_ptr);
} else {
node_base_->get_default_callback_group()->add_service(service_base_ptr);
}
// Notify the executor that a new service was created using the parent Node.
{
auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
throw std::runtime_error(
std::string("Failed to notify wait set on service creation: ") +
rmw_get_error_string().str
);
}
}
}
void
NodeServices::add_client(
rclcpp::ClientBase::SharedPtr client_base_ptr,
rclcpp::CallbackGroup::SharedPtr group)
{
if (group) {
if (!node_base_->callback_group_in_node(group)) {
// TODO(jacquelinekay): use custom exception
throw std::runtime_error("Cannot create client, group not in node.");
}
group->add_client(client_base_ptr);
} else {
node_base_->get_default_callback_group()->add_client(client_base_ptr);
}
// Notify the executor that a new client was created using the parent Node.
{
auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
throw std::runtime_error(
std::string("Failed to notify wait set on client creation: ") +
rmw_get_error_string().str
);
}
}
}
std::string
NodeServices::resolve_service_name(const std::string & name, bool only_expand) const
{
return node_base_->resolve_topic_or_service_name(name, true, only_expand);
}