ROS2ServiceServer.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 "ROS2Service.h"
 
#include "Srvs/ROS2GenericSrv.h"
 
 
 
#include "ROS2ServiceServer.generated.h"
 
 
 
class RCLUE_API UROS2ServiceServer : public UROS2Service
 
{
 
 
 
public:
 
    static UROS2ServiceServer* CreateServiceServer(UObject* InOwner,
 
                                                   const FString& InServiceName,
 
                                                   const TSubclassOf<UROS2GenericSrv>& InSrvClass,
 
                                                   const FServiceCallback& InCallback,
 
                                                   const UROS2QoS InQoS = UROS2QoS::Services);
 
 
 
    virtual void Destroy();
 
 
 
    virtual void ProcessReady() override;
 
 
 
 
 
    FServiceCallback SrvCallback;
 
 
 
 
    rcl_service_t rcl_service;
 
 
 
 
    bool Ready;
 
 
 
    void SetDelegates(const FServiceCallback& InSrvCallback);
 
 
 
protected:
 
    virtual void InitializeServiceComponent() override;
 
};
 
 
 
class RCLUE_API UROS2ServiceServerComponent : public UActorComponent
 
{
 
 
 
public:
 
 
    UROS2ServiceServer* ServiceServer = nullptr;
 
 
 
 
 
    FString ServiceName = TEXT("");
 
 
 
 
 
    TSubclassOf<UROS2GenericSrv> SrvClass = UROS2GenericSrv::StaticClass();
 
 
 
 
 
    UROS2QoS QoS = UROS2QoS::Services;
 
 
 
 
 
    FServiceCallback SrvCallback;
 
 
 
    virtual void BeginPlay() override
 
    {
 
        if (ServiceServer == nullptr)
 
        {
 
            ServiceServer = UROS2ServiceServer::CreateServiceServer(this, ServiceName, SrvClass, SrvCallback, QoS);
 
        }
 
        Super::BeginPlay();
 
    };
 
};