Class: ROS::ServiceServer

Inherits:

Service

• Object
• Service
• ROS::ServiceServer

show all

Defined in:

lib/ros/service_server.rb

Overview

node = ROS::Node.new('/rosruby/sample_service_server')
server = node.advertise_service('/add_two_ints', Roscpp_tutorials::TwoInts) do |req, res|
  res.sum = req.a + req.b
  node.loginfo("a=#{req.a}, b=#{req.b}")
  node.loginfo("  sum = #{res.sum}")
  true
end
while node.ok?
  sleep (1.0)
end

Instance Attribute Summary (collapse)

• - (Integer) num_request readonly

  How many times this service called.

Attributes inherited from Service

#caller_id, #service_name, #service_type

Instance Method Summary (collapse)

• - (Boolean) call(request, response)

  execute the service callback.

• - (Object) close

  user should not call this method.

• - (Array) get_connection_data

  Connection data.

• - (ServiceServer) initialize(caller_id, service_name, service_type, callback, host) constructor

  A new instance of ServiceServer.

• - (String) service_uri

  URI of this service (rosrpc://**).

• - (Object) set_manager(manager)

  set GraphManager for shutdown.

• - (Object) shutdown

  shutdown the service connection.

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# File 'lib/ros/service_server.rb', line 37

def initialize(caller_id, service_name, service_type, callback, host)
  super(caller_id, service_name, service_type)
  @callback = callback
  @server = TCPROS::ServiceServer.new(@caller_id,
                                      @service_name,
                                      @service_type,
                                      self,
                                      :host => host)
  @server.start
  @num_request = 0
end

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# File 'lib/ros/service_server.rb', line 92

def num_request
  @num_request
end

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# File 'lib/ros/service_server.rb', line 55

def call(request, response)
  @num_request += 1
  @callback.call(request, response)
end

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# File 'lib/ros/service_server.rb', line 69

def close #:nodoc:
  @server.shutdown
end

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# File 'lib/ros/service_server.rb', line 87

def get_connection_data
  [@num_request, @server.byte_received, @server.byte_sent]
end

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# File 'lib/ros/service_server.rb', line 62

def service_uri
  'rosrpc://' + @server.host + ':' + @server.port.to_s
end

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# File 'lib/ros/service_server.rb', line 82

def set_manager(manager) #:nodoc:
  @manager = manager
end

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# File 'lib/ros/service_server.rb', line 76

def shutdown
  @manager.shutdow_service_server(self)
end