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

Inheritance diagram for AddTwoIntsState:

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Collaboration diagram for AddTwoIntsState:

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Public Member Functions
	AddTwoIntsState ()
	Constructor for AddTwoIntsState.

example_interfaces::srv::AddTwoInts::Request::SharedPtr	create_request_handler (yasmin::Blackboard::SharedPtr blackboard)
	Creates a service request using values from the blackboard.

std::string	response_handler (yasmin::Blackboard::SharedPtr 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 (const std::string &srv_name, CreateRequestHandler create_request_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Shared pointer type for ServiceState.

	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and outcomes.

	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and outcomes.

	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, ResponseHandler response_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and response handler.

	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, ResponseHandler response_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and response handler.

	ServiceState (const rclcpp::Node::SharedPtr &node, const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, ResponseHandler response_handler, rclcpp::CallbackGroup::SharedPtr callback_group, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a ROS 2 node and handlers.

std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Execute the service call and handle the response.

Public Member Functions inherited from yasmin::State
	State (const Outcomes &outcomes)
	Shared pointer type for State.

virtual	~State ()=default
	Virtual destructor for proper polymorphic destruction.

bool	is_idle () const noexcept
	Checks if the state is idle.

bool	is_running () const noexcept
	Checks if the state is currently running.

bool	is_canceled () const noexcept
	Checks if the state has been canceled.

bool	is_completed () const noexcept
	Checks if the state has completed execution.

std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.

virtual void	cancel_state ()
	Cancels the current state execution.

Outcomes const &	get_outcomes () const noexcept
	Gets the set of possible outcomes for this state.

virtual std::string	to_string () const
	Converts the state to a string representation.

Additional Inherited Members
Protected Attributes inherited from yasmin_ros::ServiceState< example_interfaces::srv::AddTwoInts >
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.

Protected Attributes inherited from yasmin::State
Outcomes	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 ( yasmin::Blackboard::SharedPtr 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	(	yasmin::Blackboard::SharedPtr	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.

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

yasmin_demos/src/service_client_demo.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AddTwoIntsState()

Member Function Documentation

◆ create_request_handler()

◆ response_handler()