UROS2ServiceServer Class Reference

Class implementing ROS2 service server. More...

#include <ROS2ServiceServer.h>

Inheritance diagram for UROS2ServiceServer:

Collaboration diagram for UROS2ServiceServer:

Public Member Functions
virtual void	Destroy ()
	Destroy publisher with rcl_client_fini. More...
virtual void	ProcessReady () override
	Determine the relevant action client functions to call. More...
void	SetDelegates (const FServiceCallback &InSrvCallback)
	Set SrvCallback. More...
Public Member Functions inherited from UROS2Service
virtual bool	InitializeWithROS2 (UROS2NodeComponent *InROS2Node)
	Initialize Service with ROS2Node. More...
virtual bool	Init ()
	Initialize ROS2 service client with rcl_client_init, set QoS, InitializeService and InitializeServiceComponent . More...
virtual bool	InitializeService ()
	Create Service instance and initialize it. More...

Static Public Member Functions
static UROS2ServiceServer *	CreateServiceServer (UObject *InOwner, const FString &InServiceName, const TSubclassOf< UROS2GenericSrv > &InSrvClass, const FServiceCallback &InCallback, const UROS2QoS InQoS=UROS2QoS::Services)
	Create a new UROS2ServiceServer of custom type. More...

Public Attributes
FServiceCallback	SrvCallback
	used to receive the answer More...
rcl_service_t	rcl_service
	ROS2 Service server.
bool	Ready
	Service is ready or not.
Public Attributes inherited from UROS2Service
FString	ServiceName
	this information is redundant with Topic, but it's used to initialize it More...
TSubclassOf< UROS2GenericSrv >	SrvClass
	type of Srv class More...
UROS2NodeComponent *	OwnerNode
	ROS2Node which own this service client. More...
TEnumAsByte< UROS2State >	State = UROS2State::Created
	Service client state. More...
UROS2GenericSrv *	Service
	Service Instance. More...
UROS2QoS	QoS = UROS2QoS::Services
	Quality of service. More...

Protected Member Functions
virtual void	InitializeServiceComponent () override
	Initialize ROS2 service server with rcl_service_init. More...

Additional Inherited Members
Protected Attributes inherited from UROS2Service
bool	Ready
	Service is ready or not.

Detailed Description

Class implementing ROS2 service server.

Service type is defined by SrvClass

UCLASS(ClassGroup = (Custom), Blueprintable, BlueprintType, meta = (BlueprintSpawnableComponent))

Member Function Documentation

CreateServiceServer()

static UROS2ServiceServer* UROS2ServiceServer::CreateServiceServer ( UObject *  InOwner, const FString &  InServiceName, const TSubclassOf< UROS2GenericSrv > &  InSrvClass, const FServiceCallback &  InCallback, const UROS2QoS  InQoS = UROS2QoS::Services  )

static

Create a new UROS2ServiceServer of custom type.

Parameters

InTopicName	Topic name
InSrvClass	Custom message type class
InCallback	Callback function

Destroy()

virtual void UROS2ServiceServer::Destroy ( )

virtual

Destroy publisher with rcl_client_fini.

Reimplemented from UROS2Service.

InitializeServiceComponent()

virtual void UROS2ServiceServer::InitializeServiceComponent ( )

overrideprotectedvirtual

Initialize ROS2 service server with rcl_service_init.

Set QOS for all goal, result, cancel, feedback and status

Reimplemented from UROS2Service.

ProcessReady()

virtual void UROS2ServiceServer::ProcessReady ( )

overridevirtual

Determine the relevant action client functions to call.

Reimplemented from UROS2Service.

SetDelegates()

void UROS2ServiceServer::SetDelegates

(

const FServiceCallback &

InSrvCallback

)

Set SrvCallback.

Parameters

InSrvCallback

UFUNCTION(BlueprintCallable)

Member Data Documentation

SrvCallback

FServiceCallback UROS2ServiceServer::SrvCallback

used to receive the answer

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/rclue/checkouts/devel/Source/rclUE/Public/ROS2ServiceServer.h