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 __init__(self, node):
super().__init__(ReentrantCallbackGroup())
self.server = _rclpy.rclpy_create_service(
node.handle, EmptySrv, 'test_server', qos_profile_default.get_c_qos_profile())[0]
self.server_index = None
self.server_is_ready = False
self.node = node
self.future = None
def __init__(self, node):
super().__init__(ReentrantCallbackGroup())
with node.handle as node_capsule:
self.server = _rclpy.rclpy_create_service(
node_capsule, EmptySrv, 'test_server', QoSProfile(depth=10).get_c_qos_profile())
self.server_index = None
self.server_is_ready = False
self.node = node
self.future = None
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
