AddTwoIntsState Class Reference

State for calling the AddTwoInts service in ROS 2. More...

Inheritance diagram for AddTwoIntsState:

Collaboration diagram for AddTwoIntsState:

Public Member Functions
	AddTwoIntsState ()
	Constructor for AddTwoIntsState.
example_interfaces::srv::AddTwoInts::Request::SharedPtr	create_request_handler (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard)
	Creates a service request using values from the blackboard.
std::string	response_handler (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard, example_interfaces::srv::AddTwoInts::Response::SharedPtr response)
	Handles the service response and stores the result in the blackboard.
Public Member Functions inherited from yasmin_ros::ServiceState< example_interfaces::srv::AddTwoInts >
	ServiceState (std::string srv_name, CreateRequestHandler create_request_handler, std::set< std::string > outcomes, int timeout=-1.0)
	Construct a ServiceState with a request handler and outcomes.
	ServiceState (std::string srv_name, CreateRequestHandler create_request_handler, std::set< std::string > outcomes, ResponseHandler response_handler, int timeout=-1.0)
	Construct a ServiceState with a request handler and response handler.
	ServiceState (const rclcpp::Node::SharedPtr &node, std::string srv_name, CreateRequestHandler create_request_handler, std::set< std::string > outcomes, ResponseHandler response_handler, int timeout=-1.0)
	Construct a ServiceState with a ROS 2 node and handlers.
std::string	execute (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard) override
	Execute the service call and handle the response.
Public Member Functions inherited from yasmin::State
	State (std::set< std::string > outcomes)
	Constructs a State with a set of possible outcomes.
std::string	operator() (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state and returns the outcome.
virtual void	cancel_state ()
	Cancels the current state execution.
bool	is_canceled () const
	Checks if the state has been canceled.
bool	is_running () const
	Checks if the state is currently running.
std::set< std::string > const &	get_outcomes ()
	Gets the set of possible outcomes for this state.
virtual std::string	to_string ()
	Converts the state to a string representation.

Additional Inherited Members
Protected Attributes inherited from yasmin::State
std::set< std::string >	outcomes
	The possible outcomes of this state.

Detailed Description

State for calling the AddTwoInts service in ROS 2.

This state constructs and sends a service request to add two integers, and processes the response to retrieve and store the result in the blackboard.

Constructor & Destructor Documentation

AddTwoIntsState()

AddTwoIntsState::AddTwoIntsState ( )

inline

Constructor for AddTwoIntsState.

Initializes the service state with the specified service name and handlers for request creation and response processing.

Member Function Documentation

create_request_handler()

example_interfaces::srv::AddTwoInts::Request::SharedPtr AddTwoIntsState::create_request_handler ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard )

inline

Creates a service request using values from the blackboard.

Retrieves integers "a" and "b" from the blackboard and sets them in the request.

Parameters

blackboard

Shared pointer to the blackboard for retrieving values.

Returns

example_interfaces::srv::AddTwoInts::Request::SharedPtr The service request.

response_handler()

std::string AddTwoIntsState::response_handler ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard, example_interfaces::srv::AddTwoInts::Response::SharedPtr response )

inline

Handles the service response and stores the result in the blackboard.

Retrieves the sum from the service response and stores it in the blackboard.

Parameters

blackboard	Shared pointer to the blackboard for storing values.
response	Shared pointer to the service response containing the sum.

Returns

std::string Outcome indicating success.

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

• yasmin_demos/src/service_client_demo.cpp