yasmin_ros::ServiceState< ServiceT > Class Template Reference

A state class that interacts with a ROS 2 service. More...

#include <service_state.hpp>

Inheritance diagram for yasmin_ros::ServiceState< ServiceT >:

Collaboration diagram for yasmin_ros::ServiceState< ServiceT >:

Public Member Functions
	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.

Private Types
using	Request = typename ServiceT::Request::SharedPtr
	Alias for the service request type.
using	Response = typename ServiceT::Response::SharedPtr
	Alias for the service response type.
using	CreateRequestHandler
	Function type for creating a request.
using	ResponseHandler
	Function type for handling a response.

Private Member Functions
Request	create_request (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard)
	Create a service request based on the blackboard.

Private Attributes
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.
std::shared_ptr< rclcpp::Client< ServiceT > >	service_client
	Shared pointer to the service client.
CreateRequestHandler	create_request_handler
	Function to create service requests.
ResponseHandler	response_handler
	Function to handle service responses.
std::string	srv_name
	Name of the service.
int	timeout
	Maximum wait time for service availability.

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

Detailed Description

template<typename ServiceT>
class yasmin_ros::ServiceState< ServiceT >

A state class that interacts with a ROS 2 service.

This class manages communication with a specified ROS 2 service, allowing it to send requests and handle responses. It extends the base yasmin::State class.

Template Parameters

ServiceT

The type of the ROS 2 service this state interacts with.

Member Typedef Documentation

CreateRequestHandler

template<typename ServiceT >

using yasmin_ros::ServiceState< ServiceT >::CreateRequestHandler

private

Initial value:

 
      std::function<Request(std::shared_ptr<yasmin::blackboard::Blackboard>)>

Function type for creating a request.

Request

template<typename ServiceT >

using yasmin_ros::ServiceState< ServiceT >::Request = typename ServiceT::Request::SharedPtr

private

Alias for the service request type.

Response

template<typename ServiceT >

using yasmin_ros::ServiceState< ServiceT >::Response = typename ServiceT::Response::SharedPtr

private

Alias for the service response type.

ResponseHandler

template<typename ServiceT >

using yasmin_ros::ServiceState< ServiceT >::ResponseHandler

private

Initial value:

 std::function<std::string(
      std::shared_ptr<yasmin::blackboard::Blackboard>, Response)>

Function type for handling a response.

Constructor & Destructor Documentation

ServiceState() [1/3]

template<typename ServiceT >

yasmin_ros::ServiceState< ServiceT >::ServiceState ( std::string srv_name, CreateRequestHandler create_request_handler, std::set< std::string > outcomes, int timeout = -1.0 )

inline

Construct a ServiceState with a request handler and outcomes.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

ServiceState() [2/3]

template<typename ServiceT >

yasmin_ros::ServiceState< ServiceT >::ServiceState ( std::string srv_name, CreateRequestHandler create_request_handler, std::set< std::string > outcomes, ResponseHandler response_handler, int timeout = -1.0 )

inline

Construct a ServiceState with a request handler and response handler.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
response_handler	Function to handle the service response.
timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

ServiceState() [3/3]

template<typename ServiceT >

yasmin_ros::ServiceState< ServiceT >::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 )

inline

Construct a ServiceState with a ROS 2 node and handlers.

Parameters

node	A shared pointer to the ROS 2 node.
srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
response_handler	Function to handle the service response.
timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

Exceptions

std::invalid_argument

if the create_request_handler is nullptr.

Member Function Documentation

create_request()

template<typename ServiceT >

Request yasmin_ros::ServiceState< ServiceT >::create_request ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard )

inlineprivate

Create a service request based on the blackboard.

Parameters

blackboard

A shared pointer to the blackboard containing data for request creation.

Returns

Request The created service request.

execute()

template<typename ServiceT >

std::string yasmin_ros::ServiceState< ServiceT >::execute ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard )

inlineoverridevirtual

Execute the service call and handle the response.

This function creates a request based on the blackboard data, waits for the service to become available, sends the request, and processes the response.

Parameters

blackboard

A shared pointer to the blackboard containing data for request creation.

Returns

std::string The outcome of the service call, which can be SUCCEED, ABORT, or TIMEOUT.

Reimplemented from yasmin::State.

Member Data Documentation

create_request_handler

template<typename ServiceT >

CreateRequestHandler yasmin_ros::ServiceState< ServiceT >::create_request_handler

private

Function to create service requests.

node_

template<typename ServiceT >

rclcpp::Node::SharedPtr yasmin_ros::ServiceState< ServiceT >::node_

private

Shared pointer to the ROS 2 node.

response_handler

template<typename ServiceT >

ResponseHandler yasmin_ros::ServiceState< ServiceT >::response_handler

private

Function to handle service responses.

service_client

template<typename ServiceT >

std::shared_ptr<rclcpp::Client<ServiceT> > yasmin_ros::ServiceState< ServiceT >::service_client

private

Shared pointer to the service client.

srv_name

template<typename ServiceT >

std::string yasmin_ros::ServiceState< ServiceT >::srv_name

private

Name of the service.

timeout

template<typename ServiceT >

int yasmin_ros::ServiceState< ServiceT >::timeout

private

Maximum wait time for service availability.

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

• yasmin_ros/include/yasmin_ros/service_state.hpp