def destroy_service(self, service: Service) -> bool:
"""
Destroy a service server created by the node.
:return: ``True`` if successful, ``False`` otherwise.
"""
if service in self.__services:
self.__services.remove(service)
try:
service.destroy()
except InvalidHandle:
return False
return True
return False
def create_service(self,
srv_type,
srv_name,
callback,
*,
qos_profile=qos_profile_services_default,
callback_group=None):
if callback_group is None:
callback_group = self._default_callback_group
check_for_type_support(srv_type)
failed = False
try:
[service_handle, service_pointer
] = _rclpy.rclpy_create_service(self.handle, srv_type, srv_name,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(srv_name, is_service=True)
service = Service(self.handle, service_handle, service_pointer,
srv_type, srv_name, callback, callback_group,
qos_profile)
self.services.append(service)
callback_group.add_entity(service)
return service
def create_service(
self, srv_type, srv_name, callback, qos_profile=qos_profile_services_default):
if srv_type.__class__._TYPE_SUPPORT is None:
srv_type.__class__.__import_type_support__()
if srv_type.__class__._TYPE_SUPPORT is None:
raise NoTypeSupportImportedException
[service_handle, service_pointer] = _rclpy.rclpy_create_service(
self.handle,
srv_type,
srv_name,
qos_profile.get_c_qos_profile())
service = Service(
self.handle, service_handle, service_pointer,
srv_type, srv_name, callback, qos_profile)
self.services.append(service)
return service
def create_service(self,
srv_type,
srv_name: str,
callback: Callable[[SrvTypeRequest, SrvTypeResponse],
SrvTypeResponse],
*,
qos_profile: QoSProfile = qos_profile_services_default,
callback_group: CallbackGroup = None) -> Service:
"""
Create a new service server.
:param srv_type: The service type.
:param srv_name: The name of the service.
:param callback: A user-defined callback function that is called when a service request
received by the server.
:param qos_profile: The quality of service profile to apply the service server.
:param callback_group: The callback group for the service server. If ``None``, then the
nodes default callback group is used.
"""
if callback_group is None:
callback_group = self.default_callback_group
check_for_type_support(srv_type)
failed = False
try:
with self.handle as node_capsule:
service_capsule = _rclpy.rclpy_create_service(
node_capsule, srv_type, srv_name,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(srv_name, is_service=True)
service_handle = Handle(service_capsule)
service_handle.requires(self.handle)
service = Service(service_handle, srv_type, srv_name, callback,
callback_group, qos_profile)
self.__services.append(service)
callback_group.add_entity(service)
return service
def __init__(
self,
*,
enable_communication_interface: bool = True,
callback_group: Optional[CallbackGroup] = None,
):
"""
Initialize a lifecycle node.
:param enable_communication_interface: Creates the lifecycle nodes services and publisher
if True.
:param callback_group: Callback group that will be used by all the lifecycle
node services.
"""
self._callbacks: Dict[int, Callable[[LifecycleState],
TransitionCallbackReturn]] = {}
# register all state machine transition callbacks
self.__register_callback(
lifecycle_msgs.msg.State.TRANSITION_STATE_CONFIGURING,
self.on_configure)
self.__register_callback(
lifecycle_msgs.msg.State.TRANSITION_STATE_CLEANINGUP,
self.on_cleanup)
self.__register_callback(
lifecycle_msgs.msg.State.TRANSITION_STATE_SHUTTINGDOWN,
self.on_shutdown)
self.__register_callback(
lifecycle_msgs.msg.State.TRANSITION_STATE_ACTIVATING,
self.on_activate)
self.__register_callback(
lifecycle_msgs.msg.State.TRANSITION_STATE_DEACTIVATING,
self.on_deactivate)
self.__register_callback(
lifecycle_msgs.msg.State.TRANSITION_STATE_ERRORPROCESSING,
self.on_error)
if callback_group is None:
callback_group = self.default_callback_group
self._managed_entities: Set[ManagedEntity] = set()
for srv_type in (
lifecycle_msgs.srv.ChangeState,
lifecycle_msgs.srv.GetState,
lifecycle_msgs.srv.GetAvailableStates,
lifecycle_msgs.srv.GetAvailableTransitions,
):
# this doesn't only checks, but also imports some stuff we need later
check_is_valid_srv_type(srv_type)
with self.handle:
self._state_machine = _rclpy.LifecycleStateMachine(
self.handle, enable_communication_interface)
if enable_communication_interface:
self._service_change_state = Service(
self._state_machine.service_change_state,
lifecycle_msgs.srv.ChangeState,
self._state_machine.service_change_state.name,
self.__on_change_state, callback_group,
QoSProfile(**self._state_machine.service_change_state.qos))
self._service_get_state = Service(
self._state_machine.service_get_state,
lifecycle_msgs.srv.GetState,
self._state_machine.service_get_state.name,
self.__on_get_state, callback_group,
QoSProfile(**self._state_machine.service_get_state.qos))
self._service_get_available_states = Service(
self._state_machine.service_get_available_states,
lifecycle_msgs.srv.GetAvailableStates,
self._state_machine.service_get_available_states.name,
self.__on_get_available_states, callback_group,
QoSProfile(
**self._state_machine.service_get_available_states.qos))
self._service_get_available_transitions = Service(
self._state_machine.service_get_available_transitions,
lifecycle_msgs.srv.GetAvailableTransitions,
self._state_machine.service_get_available_transitions.name,
self.__on_get_available_transitions, callback_group,
QoSProfile(**self._state_machine.
service_get_available_transitions.qos))
self._service_get_transition_graph = Service(
self._state_machine.service_get_transition_graph,
lifecycle_msgs.srv.GetAvailableTransitions,
self._state_machine.service_get_transition_graph.name,
self.__on_get_transition_graph, callback_group,
QoSProfile(
**self._state_machine.service_get_transition_graph.qos))
lifecycle_services = [
self._service_change_state,
self._service_get_state,
self._service_get_available_states,
self._service_get_available_transitions,
self._service_get_transition_graph,
]
for s in lifecycle_services:
callback_group.add_entity(s)
# Extend base class list of services, so they are added to the executor when spinning.
self._services.extend(lifecycle_services)
