It creates a reply handler for the specific protobuf messages used. 'Req' is a protobuf message type containing the input parameters of the service request. 'Rep' is a protobuf message type that will be filled with the service response. More...

#include <ReqHandler.hh>

Public Member Functions
	ReqHandler (const std::string &_nUuid)

std::shared_ptr< Rep >	CreateMsg (const std::string &_data) const
	Create a specific protobuf message given its serialized data.

void	NotifyResult (const std::string &_rep, const bool _result)
	Executes the callback registered for this handler and notify a potential requester waiting on a blocking call.

virtual std::string	RepTypeName () const
	Get the message type name used in the service response.

virtual std::string	ReqTypeName () const
	Get the message type name used in the service request.

bool	Serialize (std::string &_buffer) const
	Serialize the Req protobuf message stored.

void	SetCallback (const std::function< void(const Rep &_rep, const bool _result)> &_cb)
	Set the callback for this handler.

void	SetMessage (const Req *_reqMsg)
	Set the REQ protobuf message for this handler.

void	SetResponse (const Rep *_repMsg)
	This function is only used for compatibility with SetResponse() when [REP = google::protobuf::Message]. It shouldn't do anything.

Public Member Functions inherited from IReqHandler
	IReqHandler (const std::string &_nUuid)
	Constructor.

virtual	~IReqHandler ()
	Destructor.

std::string	HandlerUuid () const
	Returns the unique handler UUID.

std::string	NodeUuid () const
	Get the node UUID.

bool	Requested () const
	Returns if this service call request has already been requested.

void	Requested (const bool _value)
	Mark the service call as requested (or not).

std::string	Response () const
	Get the service response as raw bytes.

bool	Result () const
	Get the result of the service response.

template<typename Lock >
bool	WaitUntil (Lock &_lock, const unsigned int _timeout)
	Block the current thread until the response to the service request is available or until the timeout expires. This method uses a condition variable to notify when the response is available.

Additional Inherited Members
Public Attributes inherited from IReqHandler
bool	repAvailable
	When there is a blocking service call request, the call can be unlocked when a service call REP is available. This variable captures if we have found a node that can satisfy our request.

Protected Attributes inherited from IReqHandler
std::condition_variable_any	condition
	Condition variable used to wait until a service call REP is available.

std::unique_ptr< IReqHandlerPrivate >	dataPtr
	Private data.

std::string	rep
	Stores the service response as raw bytes.

bool	result
	Stores the result of the service call.

Detailed Description

template<typename Req, typename Rep>
class gz::transport::ReqHandler< Req, Rep >

It creates a reply handler for the specific protobuf messages used. 'Req' is a protobuf message type containing the input parameters of the service request. 'Rep' is a protobuf message type that will be filled with the service response.

Constructor & Destructor Documentation

◆ ReqHandler()

template<typename Req , typename Rep >

ReqHandler ( const std::string & _nUuid )

inlineexplicit

Member Function Documentation

◆ CreateMsg()

template<typename Req , typename Rep >

std::shared_ptr< Rep > CreateMsg ( const std::string & _data ) const

inline

Create a specific protobuf message given its serialized data.

Parameters

[in] _data The serialized data.

Returns: Pointer to the specific protobuf message.

References std::endl().

Referenced by ReqHandler< Req, Rep >::NotifyResult().

◆ NotifyResult()

template<typename Req , typename Rep >

void NotifyResult	(	const std::string &	_rep,
		const bool	_result
	)

inlinevirtual

Executes the callback registered for this handler and notify a potential requester waiting on a blocking call.

Parameters

[in]	_rep	Serialized data containing the response coming from the service call responser.
[in]	_result	Contains the result of the service call coming from the service call responser.

Implements IReqHandler.

References IReqHandler::condition, ReqHandler< Req, Rep >::CreateMsg(), condition_variable_any::notify_one(), IReqHandler::rep, IReqHandler::repAvailable, and IReqHandler::result.

◆ RepTypeName()

template<typename Req , typename Rep >

virtual std::string RepTypeName ( ) const

inlinevirtual

Get the message type name used in the service response.

Returns: Message type name.

Implements IReqHandler.

◆ ReqTypeName()

template<typename Req , typename Rep >

virtual std::string ReqTypeName ( ) const

inlinevirtual

Get the message type name used in the service request.

Returns: Message type name.

Implements IReqHandler.

◆ Serialize()

template<typename Req , typename Rep >

bool Serialize ( std::string & _buffer ) const

inlinevirtual

Serialize the Req protobuf message stored.

Parameters

[out] _buffer The serialized data.

Returns: True if the serialization succeed or false otherwise.

Implements IReqHandler.

References std::endl().

◆ SetCallback()

template<typename Req , typename Rep >

void SetCallback ( const std::function< void(const Rep &_rep, const bool _result)> & _cb )

inline

Set the callback for this handler.

Parameters

[in]

_cb

The callback with the following parameters:

_rep Protobuf message containing the service response.
_result True when the service request was successful or false otherwise.

◆ SetMessage()

template<typename Req , typename Rep >

void SetMessage ( const Req * _reqMsg )

inline

Set the REQ protobuf message for this handler.

Parameters

[in] _reqMsg Protobuf message containing the input parameters of of the service request.

References std::endl().

◆ SetResponse()

template<typename Req , typename Rep >

void SetResponse ( const Rep * _repMsg )

inline

This function is only used for compatibility with SetResponse() when [REP = google::protobuf::Message]. It shouldn't do anything.

Parameters

[in] _repMsg Protobuf message containing the variable where the result will be stored.

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

ReqHandler.hh

Gazebo Transport

API Reference

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ReqHandler()

Member Function Documentation

◆ CreateMsg()

◆ NotifyResult()

◆ RepTypeName()

◆ ReqTypeName()

◆ Serialize()

◆ SetCallback()

◆ SetMessage()

◆ SetResponse()