ROS2Service.h

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// Class implementing ROS2 service clients
 
// Service type is defined by SrvClass
 
 
 
#pragma once
 
 
 
// UE
 
#include "Components/ActorComponent.h"
 
#include "CoreMinimal.h"
 
 
 
// rclUE
 
#include "ROS2NodeComponent.h"
 
#include "Srvs/ROS2GenericSrv.h"
 
 
 
#include "ROS2Service.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogROS2Srv, Log, All);
 
 
 
#define IS_SRV_INITED(InNode, InName, OutRes)                                                                                    \
 
    IS_ROS2NODE_INITED(InNode, InName, OutRes);                                                                                  \
 
                                                                                                                                 \
 
    if (State != UROS2State::Initialized)                                                                                        \
 
    {                                                                                                                            \
 
        UE_LOG_WITH_INFO(                                                                                                        \
 
            LogROS2Srv, Warning, TEXT("[%s] Service Client/Server is not initialized yet. Please initialize Action."), *InName); \
 
        OutRes = false;                                                                                                          \
 
    }
 
 
 
class RCLUE_API UROS2Service : public UObject
 
{
 
 
 
public:
 
    virtual bool InitializeWithROS2(UROS2NodeComponent* InROS2Node);
 
 
 
    virtual bool Init();
 
 
 
    virtual bool InitializeService();
 
 
 
    virtual void Destroy();
 
 
 
    virtual void ProcessReady();
 
 
 
 
 
    FString ServiceName;
 
 
 
 
 
    TSubclassOf<UROS2GenericSrv> SrvClass;
 
 
 
 
 
    UROS2NodeComponent* OwnerNode;
 
 
 
 
 
    TEnumAsByte<UROS2State> State = UROS2State::Created;
 
 
 
 
 
    UROS2GenericSrv* Service;
 
 
 
 
 
 
    UROS2QoS QoS = UROS2QoS::Services;
 
 
 
protected:
 
 
    bool Ready;
 
 
 
    virtual void InitializeServiceComponent();
 
};