C++ (Cpp) SharedPtr::add_service示例

示例#1

文件： node_impl.hpp 项目： dhood/rclcpp

typename rclcpp::service::Service<ServiceT>::SharedPtr
Node::create_service(
  const std::string & service_name,
  CallbackT && callback,
  const rmw_qos_profile_t & qos_profile,
  rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
  any_service_callback.set(std::forward<CallbackT>(callback));

  rcl_service_options_t service_options = rcl_service_get_default_options();
  service_options.qos = qos_profile;

  auto serv = service::Service<ServiceT>::make_shared(
    node_handle_,
    service_name, any_service_callback, service_options);
  auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
  if (group) {
    if (!group_in_node(group)) {
      // TODO(jacquelinekay): use custom exception
      throw std::runtime_error("Cannot create service, group not in node.");
    }
    group->add_service(serv_base_ptr);
  } else {
    default_callback_group_->add_service(serv_base_ptr);
  }
  number_of_services_++;
  if (rcl_trigger_guard_condition(&notify_guard_condition_) != RCL_RET_OK) {
    throw std::runtime_error(
            std::string(
              "Failed to notify waitset on service creation: ") + rmw_get_error_string());
  }
  return serv;
}

示例#2

void
NodeServices::add_service(
  rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
  rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
  if (group) {
    if (!node_base_->callback_group_in_node(group)) {
      // TODO(jacquelinekay): use custom exception
      throw std::runtime_error("Cannot create service, group not in node.");
    }
    group->add_service(service_base_ptr);
  } else {
    node_base_->get_default_callback_group()->add_service(service_base_ptr);
  }

  // Notify the executor that a new service was created using the parent Node.
  {
    auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
    if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
      throw std::runtime_error(
              std::string("Failed to notify waitset on service creation: ") + rmw_get_error_string()
      );
    }
  }
}

示例#3

文件： node_impl.hpp 项目： madratman/rclcpp

typename rclcpp::service::Service<ServiceT>::SharedPtr
Node::create_service(
  const std::string & service_name,
  CallbackT && callback,
  const rmw_qos_profile_t & qos_profile,
  rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
  using rosidl_generator_cpp::get_service_type_support_handle;
  auto service_type_support_handle =
    get_service_type_support_handle<ServiceT>();

  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
  any_service_callback.set(std::forward<CallbackT>(callback));

  rmw_service_t * service_handle = rmw_create_service(
    node_handle_.get(), service_type_support_handle, service_name.c_str(), &qos_profile);
  if (!service_handle) {
    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
    throw std::runtime_error(
      std::string("could not create service: ") +
      rmw_get_error_string_safe());
    // *INDENT-ON*
  }

  auto serv = service::Service<ServiceT>::make_shared(
    node_handle_, service_handle, service_name, any_service_callback);
  auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
  if (group) {
    if (!group_in_node(group)) {
      // TODO(jacquelinekay): use custom exception
      throw std::runtime_error("Cannot create service, group not in node.");
    }
    group->add_service(serv_base_ptr);
  } else {
    default_callback_group_->add_service(serv_base_ptr);
  }
  number_of_services_++;
  return serv;
}