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node_services.hpp
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71 lines (57 loc) · 1.97 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.
#ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
#include <string>
#include "rclcpp/callback_group.hpp"
#include "rclcpp/client.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
namespace node_interfaces
{
/// Implementation of the NodeServices part of the Node API.
class NodeServices : public NodeServicesInterface
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeServices)
RCLCPP_PUBLIC
explicit NodeServices(rclcpp::node_interfaces::NodeBaseInterface * node_base);
RCLCPP_PUBLIC
virtual
~NodeServices();
RCLCPP_PUBLIC
void
add_client(
rclcpp::ClientBase::SharedPtr client_base_ptr,
rclcpp::CallbackGroup::SharedPtr group) override;
RCLCPP_PUBLIC
void
add_service(
rclcpp::ServiceBase::SharedPtr service_base_ptr,
rclcpp::CallbackGroup::SharedPtr group) override;
RCLCPP_PUBLIC
std::string
resolve_service_name(const std::string & name, bool only_expand = false) const override;
private:
RCLCPP_DISABLE_COPY(NodeServices)
rclcpp::node_interfaces::NodeBaseInterface * node_base_;
};
} // namespace node_interfaces
} // namespace rclcpp
#endif // RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_