Ejemplos de async_send_request en C++ (Cpp)

Ejemplo n.º 1

Archivo: add_two_ints_client_async.cpp Proyecto: rohbotics/examples

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = rclcpp::Node::make_shared("add_two_ints_client");

  auto client = node->create_client<example_interfaces::srv::AddTwoInts>("add_two_ints");

  while (!client->wait_for_service(1_s)) {
    if (!rclcpp::ok()) {
      printf("add_two_ints_client was interrupted while waiting for the service. Exiting.\n");
      return 0;
    }
    printf("service not available, waiting again...\n");
  }

  auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
  request->a = 2;
  request->b = 3;

  auto future_result = client->async_send_request(request);

  // Wait for the result.
  if (rclcpp::spin_until_future_complete(node, future_result) ==
    rclcpp::executor::FutureReturnCode::SUCCESS)
  {
    printf("Result of add_two_ints: %zd\n", future_result.get()->sum);
  } else {
    printf("add_two_ints_client_async was interrupted. Exiting.\n");
  }

  rclcpp::shutdown();
  return 0;
}

Ejemplo n.º 2

Archivo: test_services_client.cpp Proyecto: dhood/system_tests

TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_reqid) {
  auto node = rclcpp::Node::make_shared("test_services_client_add_reqid");

  auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("add_two_ints_reqid");
  auto request = std::make_shared<test_rclcpp::srv::AddTwoInts::Request>();
  request->a = 4;
  request->b = 5;

  auto result = client->async_send_request(request);

  rclcpp::spin_until_future_complete(node, result);  // Wait for the result.

  EXPECT_EQ(9, result.get()->sum);
}

Ejemplo n.º 3

Archivo: client.hpp Proyecto: shizhexu/rclcpp

  SharedFutureWithRequest async_send_request(SharedRequest request, CallbackT && cb)
  {
    SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
    SharedFutureWithRequest future_with_request(promise->get_future());

    auto wrapping_cb = [future_with_request, promise, request, &cb](SharedFuture future) {
        auto response = future.get();
        promise->set_value(std::make_pair(request, response));
        cb(future_with_request);
      };

    async_send_request(request, wrapping_cb);

    return future_with_request;
  }

Ejemplo n.º 4

Archivo: test_services_client.cpp Proyecto: dhood/system_tests

TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_return_request) {
  auto node = rclcpp::Node::make_shared("test_services_client_return_request");

  auto client = node->create_client<test_rclcpp::srv::AddTwoInts>(
    "add_two_ints_reqid_return_request");
  auto request = std::make_shared<test_rclcpp::srv::AddTwoInts::Request>();
  request->a = 4;
  request->b = 5;

  auto result = client->async_send_request(
    request,
    [](rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedFutureWithRequest future) {
    EXPECT_EQ(4, future.get().first->a);
    EXPECT_EQ(5, future.get().first->b);
    EXPECT_EQ(9, future.get().second->sum);
  });

  rclcpp::spin_until_future_complete(node, result);  // Wait for the result.
}

Ejemplo n.º 5

Archivo: add_two_ints_client_async.cpp Proyecto: RameezI/examples

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = rclcpp::Node::make_shared("add_two_ints_client");

  auto client = node->create_client<example_interfaces::srv::AddTwoInts>("add_two_ints");
  auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
  request->a = 2;
  request->b = 3;

  auto future_result = client->async_send_request(request);

  // Wait for the result.
  if (rclcpp::spin_until_future_complete(node, future_result) ==
    rclcpp::executor::FutureReturnCode::SUCCESS)
  {
    printf("Result of add_two_ints: %zd\n", future_result.get()->sum);
  } else {
    printf("add_two_ints_client_async was interrupted. Exiting.\n");
  }

  return 0;
}

Ejemplo n.º 6

Archivo: client.hpp Proyecto: shizhexu/rclcpp

 SharedFuture async_send_request(SharedRequest request)
 {
   return async_send_request(request, [](SharedFuture) {});
 }

Ejemplo n.º 7

Archivo: client.hpp Proyecto: allenh1/rclcpp

 SharedFuture async_send_request(
   typename ServiceT::Request::SharedPtr request)
 {
   return async_send_request(request, [](SharedFuture) {});
 }