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service.cpp
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86 lines (73 loc) · 1.99 KB
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// Copyright 2015 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/service.hpp"
#include <functional>
#include <iostream>
#include <memory>
#include <sstream>
#include <string>
#include "rclcpp/any_service_callback.hpp"
#include "rclcpp/macros.hpp"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
using rclcpp::ServiceBase;
ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
: node_handle_(node_handle)
{}
ServiceBase::~ServiceBase()
{}
bool
ServiceBase::take_type_erased_request(void * request_out, rmw_request_id_t & request_id_out)
{
rcl_ret_t ret = rcl_take_request(
this->get_service_handle().get(),
&request_id_out,
request_out);
if (RCL_RET_SERVICE_TAKE_FAILED == ret) {
return false;
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
return true;
}
const char *
ServiceBase::get_service_name()
{
return rcl_service_get_service_name(this->get_service_handle().get());
}
std::shared_ptr<rcl_service_t>
ServiceBase::get_service_handle()
{
return service_handle_;
}
std::shared_ptr<const rcl_service_t>
ServiceBase::get_service_handle() const
{
return service_handle_;
}
rcl_node_t *
ServiceBase::get_rcl_node_handle()
{
return node_handle_.get();
}
const rcl_node_t *
ServiceBase::get_rcl_node_handle() const
{
return node_handle_.get();
}
bool
ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
{
return in_use_by_wait_set_.exchange(in_use_state);
}