Struct Service

pub struct Service<T>
where
    T: Service,
{
    pub callback: Mutex<Box<dyn Fn(&rmw_request_id_t, T::Request) -> T::Response + Send + 'static>>,
    /* private fields */
}

Main class responsible for responding to requests sent by ROS clients.

The only available way to instantiate services is via Node::create_service(), this is to ensure that Nodes can track all the services that have been created.

Fields

callback: Mutex<Box<dyn Fn(&rmw_request_id_t, T::Request) -> T::Response + Send + 'static>>

The callback function that runs when a request was received.

Implementations

impl<T> Service<T>

where T: Service,

pub fn take_request(&self) -> Result<(T::Request, rmw_request_id_t), RclrsError>

Fetches a new request.

When there is no new message, this will return a ServiceTakeFailed.

Trait Implementations

impl<T> ServiceBase for Service<T>

where T: Service,

fn handle(&self) -> &ServiceHandle

Internal function to get a reference to the rcl handle.

fn execute(&self) -> Result<(), RclrsError>

Tries to take a new request and run the callback with it.