srv host and client implemented successfully

This commit is contained in:
winterhalderp 2021-04-20 21:39:39 +02:00
parent 2d7675fc93
commit 183e08e853
5 changed files with 103 additions and 27 deletions

View File

@ -1,10 +1,3 @@
# Header data, eg timestamp string command
# Problem: "header__struct.hpp: No such file or directory"
#Header header
# Sensor Data coming back from an array of atmospheric sensors
float32[] temperature
float32[] pressure
float32[] humidity
--- ---
bool success bool success

View File

@ -28,8 +28,8 @@ from rclpy.node import Node
# Definition of Parent Classes # Definition of Parent Classes
#******************************************************************************# #******************************************************************************#
# TOPICS
#******************************************************************************#
class MinimalPublisher(Node): class MinimalPublisher(Node):
@ -77,7 +77,6 @@ class MinimalPublisher(Node):
#******************************************************************************# #******************************************************************************#
class MinimalSubscriber(Node): class MinimalSubscriber(Node):
def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS): def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
@ -105,9 +104,12 @@ class MinimalSubscriber(Node):
return self.msg return self.msg
#******************************************************************************#
#******************************************************************************#
# SERVICE
#******************************************************************************#
class MinimalServiceProvider(Node): class MinimalServiceProvider(Node):
def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE): def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
self.NODE_NAME = NODE_NAME self.NODE_NAME = NODE_NAME
@ -126,20 +128,25 @@ class MinimalServiceProvider(Node):
* request.<name> * request.<name>
* response.<name> * response.<name>
""" """
self.get_logger().info("Service Call received")
# Add callback code here: # Abstraction layer:
# What does Service do? response = self.user_defined(request, response) # Function defined below
# ....
return response
#self.get_logger().info('Incoming request\na: %d b: %d c: %d' % (request.a, request.b, request.c)) # Insert your callback code here
def user_defined(self, request, response):
# Write user defined code here
# Adapt to fit your service type
response.success = True
return response return response
#******************************************************************************# #******************************************************************************#
class MinimalServiceClientAsync(Node):
class MinimalServiceClient(Node):
def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE): def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
self.NODE_NAME = NODE_NAME self.NODE_NAME = NODE_NAME
self.SRV_NAME = SRV_NAME self.SRV_NAME = SRV_NAME
@ -154,11 +161,20 @@ class MinimalServiceClient(Node):
def send_request(self, request): def send_request(self, request):
""" """
Feed request of type "SRV_TYPE.Request()" Feed request of type "SRV_TYPE.Request()"
Access variable using
* request = SRV_TYPE.Request()
* request.<var_name> = ....
""" """
self.request = request self.request = request
self.future = self.srv_client.call_async(self.request) self.future = self.srv_client.call_async(self.request)
def check_if_service_completed(self): def check_if_service_complete(self):
""" Checks if service call was answered by host.
Returns tuple [done, response]:
* done: Bool (service call complete)
* response: msg class from srv type
"""
if self.future.done(): if self.future.done():
try: try:
response = self.future.result() response = self.future.result()
@ -166,10 +182,9 @@ class MinimalServiceClient(Node):
self.get_logger().info( self.get_logger().info(
'Service call failed %r' % (e,)) 'Service call failed %r' % (e,))
else: else:
pass
# Adapt to fit service type # Adapt to fit service type
#self.get_logger().info( # self.get_logger().info('Result of add_three_ints: for %d + %d + %d = %d' %(minimal_client.req.a, minimal_client.req.b, minimal_client.req.c, response.sum))
'Result of add_three_ints: for %d + %d + %d = %d' % return self.future.done(), response
(minimal_client.req.a, minimal_client.req.b, minimal_client.req.c, response.sum))
return response
else: else:
return None return self.future.done(), None

View File

@ -0,0 +1,39 @@
import rclpy
from rclpy.node import Node
# Service Type Files
from custom_interfaces.srv import CustomSrv1
# Service Minimal Host and Client
import pubsub.pubsub_library_v3 as lib
def main(args=None):
rclpy.init(args=args)
# Create Service Client
minimal_client = lib.MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
# Create Service Request
srv_request = CustomSrv1.Request()
srv_request.command = "Hallo"
minimal_client.send_request(srv_request) # send request to service provider
while rclpy.ok():
try:
rclpy.spin_once(minimal_client, timeout_sec=0.1)
done, response = minimal_client.check_if_service_complete()
if done:
print(response.success)
else:
print("Service not complete")
except (KeyboardInterrupt, SystemExit):
print("\n\nShutting down...")
minimal_client.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

View File

@ -0,0 +1,27 @@
import rclpy
from rclpy.node import Node
# Service Type Files
from custom_interfaces.srv import CustomSrv1
# Service Minimal Host and Client
import pubsub.pubsub_library_v3 as lib
def main(args=None):
rclpy.init(args=args)
minimal_service = lib.MinimalServiceProvider(NODE_NAME="Service_Host_Test", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
while rclpy.ok():
try:
rclpy.spin_once(minimal_service, timeout_sec=0.1)
except (KeyboardInterrupt, SystemExit):
print("\n\nShutting down...")
minimal_service.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

View File

@ -21,7 +21,9 @@ setup(
entry_points={ entry_points={
'console_scripts': [ 'console_scripts': [
'talker = pubsub.talker:main', 'talker = pubsub.talker:main',
'listener = pubsub.listener:main' 'listener = pubsub.listener:main',
'srvhost = pubsub.service_host:main',
'srvclient = pubsub.service_client:main'
], ],
}, },
) )