DesertClient Class Reference

Public Member Functions
	DesertClient (std::string service_name, const rosidl_service_type_support_t *type_supports, rmw_gid_t gid)
	Create a client.
bool	has_data ()
	Check if there is available data for the current client instance.
void	send_request (const void *req, int64_t *sequence_id)
	Send a request to the service.
void	read_response (void *res, rmw_service_info_t *req_header)
	Read a response from the service.
rmw_gid_t	get_gid ()
	Retreive the gid of the current entity.
std::string	get_service_name ()
	Retreive the service name of the current entity.
std::string	get_request_type_name ()
	Retreive the request type of the current entity.
std::string	get_response_type_name ()
	Retreive the response type of the current entity.

Constructor & Destructor Documentation

DesertClient()

DesertClient::DesertClient	(	std::string	service_name,
		const rosidl_service_type_support_t *	type_supports,
		rmw_gid_t	gid
	)

Create a client.

Parameters

service_name	Name of the service to send requests and receive responses
type_supports	Pointer to the message data structure coming from the ROS upper layers
gid	Global identifier of the entity

Member Function Documentation

get_gid()

rmw_gid_t DesertClient::get_gid

(

)

Retreive the gid of the current entity.

This function returns the global identifier of the current entity in the rmw format.

Returns

Global identifier of the entity

get_request_type_name()

std::string DesertClient::get_request_type_name

(

)

Retreive the request type of the current entity.

This function returns a string containing the service request type name of the current entity.

Returns

Type of the service request

get_response_type_name()

std::string DesertClient::get_response_type_name

(

)

Retreive the response type of the current entity.

This function returns a string containing the service response type name of the current entity.

Returns

Type of the service response

get_service_name()

std::string DesertClient::get_service_name

(

)

Retreive the service name of the current entity.

This function returns a string containing the service name of the current entity.

Returns

Name of the service

has_data()

bool DesertClient::has_data

(

)

Check if there is available data for the current client instance.

The has_data function calls the interpret_packets method in RxStream and then verifies if in the map of client packets there is a correspondence with the service name and the sequence identifier of the current instance.

Returns

True if data is present otherwise false

read_response()

void DesertClient::read_response	(	void *	res,
		rmw_service_info_t *	req_header
	)

Read a response from the service.

The read_response function interprets a transmission with the current sequence identifier deserializing the message using the method from the MessageSerialization namespace. A discrimination is made between C members and C++ members based on the type support.

Parameters

res	Pointer to the memory location used to store the reading
req_header	Pointer to the request header used to store the service sequence identifier

send_request()

void DesertClient::send_request	(	const void *	req,
		int64_t *	sequence_id
	)

Send a request to the service.

The send_request function starts a transmission with the current sequence identifier and then serializes the message using the method from the MessageSerialization namespace. A discrimination is made between C members and C++ members based on the type support.

Parameters

req	Pointer to the request to send
sequence_id	Pointer to the random service sequence identifier

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

• src/desert_classes/DesertClient.h
• src/desert_classes/DesertClient.cpp