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Merge pull request #196 from 107-systems/service-client
Implement a ROS2 style API Service Client.
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,92 @@ | ||
| /** | ||
| * This software is distributed under the terms of the MIT License. | ||
| * Copyright (c) 2020-2023 LXRobotics. | ||
| * Author: Alexander Entinger <alexander.entinger@lxrobotics.com> | ||
| * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors. | ||
| */ | ||
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| #ifndef INC_107_ARDUINO_CYPHAL_SERVICE_CLIENT_HPP | ||
| #define INC_107_ARDUINO_CYPHAL_SERVICE_CLIENT_HPP | ||
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| /************************************************************************************** | ||
| * INCLUDE | ||
| **************************************************************************************/ | ||
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| #include <memory> | ||
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| #include "SubscriptionBase.h" | ||
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| #include "libcanard/canard.h" | ||
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| /************************************************************************************** | ||
| * FORWARD DECLARATION | ||
| **************************************************************************************/ | ||
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| class Node; | ||
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| /************************************************************************************** | ||
| * NAMESPACE | ||
| **************************************************************************************/ | ||
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| namespace impl | ||
| { | ||
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| /************************************************************************************** | ||
| * CLASS DECLARATION | ||
| **************************************************************************************/ | ||
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| template <typename T_REQ> | ||
| class ServiceClientBase : public SubscriptionBase | ||
| { | ||
| public: | ||
| ServiceClientBase() : SubscriptionBase{CanardTransferKindResponse} { } | ||
| virtual ~ServiceClientBase() { } | ||
| virtual bool request(CanardNodeID const remote_node_id, T_REQ const & req) = 0; | ||
| }; | ||
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| template<typename T_REQ, typename T_RSP, typename OnResponseCb> | ||
| class ServiceClient : public ServiceClientBase<T_REQ> | ||
| { | ||
| public: | ||
| ServiceClient(Node & node_hdl, CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec, OnResponseCb on_response_cb) | ||
| : _node_hdl{node_hdl} | ||
| , _port_id{port_id} | ||
| , _tx_timeout_usec{tx_timeout_usec} | ||
| , _on_response_cb{on_response_cb} | ||
| , _transfer_id{0} | ||
| { } | ||
| virtual ~ServiceClient(); | ||
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| virtual bool request(CanardNodeID const remote_node_id, T_REQ const & req) override; | ||
| virtual bool onTransferReceived(CanardRxTransfer const & transfer) override; | ||
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| private: | ||
| Node & _node_hdl; | ||
| CanardPortID const _port_id; | ||
| CanardMicrosecond const _tx_timeout_usec; | ||
| OnResponseCb _on_response_cb; | ||
| CanardTransferID _transfer_id; | ||
| }; | ||
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| /************************************************************************************** | ||
| * NAMESPACE | ||
| **************************************************************************************/ | ||
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| } /* impl */ | ||
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| /************************************************************************************** | ||
| * TYPEDEF | ||
| **************************************************************************************/ | ||
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| template <typename T_REQ> | ||
| using ServiceClient = std::shared_ptr<impl::ServiceClientBase<T_REQ>>; | ||
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| /************************************************************************************** | ||
| * TEMPLATE IMPLEMENTATION | ||
| **************************************************************************************/ | ||
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| #include "ServiceClient.ipp" | ||
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| #endif /* INC_107_ARDUINO_CYPHAL_SERVICE_CLIENT_HPP */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| /** | ||
| * This software is distributed under the terms of the MIT License. | ||
| * Copyright (c) 2020-2023 LXRobotics. | ||
| * Author: Alexander Entinger <alexander.entinger@lxrobotics.com> | ||
| * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors. | ||
| */ | ||
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| /************************************************************************************** | ||
| * NAMESPACE | ||
| **************************************************************************************/ | ||
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| namespace impl { | ||
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| /************************************************************************************** | ||
| * CTOR/DTOR | ||
| **************************************************************************************/ | ||
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| template<typename T_REQ, typename T_RSP, typename OnResponseCb> | ||
| ServiceClient<T_REQ, T_RSP, OnResponseCb>::~ServiceClient() | ||
| { | ||
| _node_hdl.unsubscribe(_port_id, SubscriptionBase::canard_transfer_kind()); | ||
| } | ||
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| /************************************************************************************** | ||
| * PUBLIC MEMBER FUNCTIONS | ||
| **************************************************************************************/ | ||
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| template<typename T_REQ, typename T_RSP, typename OnResponseCb> | ||
| bool ServiceClient<T_REQ, T_RSP, OnResponseCb>::request(CanardNodeID const remote_node_id, T_REQ const & req) | ||
| { | ||
| CanardTransferMetadata const transfer_metadata = | ||
| { | ||
| .priority = CanardPriorityNominal, | ||
| .transfer_kind = CanardTransferKindRequest, | ||
| .port_id = _port_id, | ||
| .remote_node_id = remote_node_id, | ||
| .transfer_id = _transfer_id++, | ||
| }; | ||
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| /* Serialize message into payload buffer. */ | ||
| std::array<uint8_t, T_REQ::MAX_PAYLOAD_SIZE> payload_buf{}; | ||
| size_t const payload_buf_size = req.serialize(payload_buf.data()); | ||
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| /* Serialize transfer into a series of CAN frames. */ | ||
| return _node_hdl.enqueue_transfer(_tx_timeout_usec, | ||
| &transfer_metadata, | ||
| payload_buf_size, | ||
| payload_buf.data()); | ||
| } | ||
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| template<typename T_REQ, typename T_RSP, typename OnResponseCb> | ||
| bool ServiceClient<T_REQ, T_RSP, OnResponseCb>::onTransferReceived(CanardRxTransfer const & transfer) | ||
| { | ||
| /* Deserialize the response message. */ | ||
| T_RSP const rsp = T_RSP::deserialize(transfer); | ||
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| /* Invoke the user registered callback. */ | ||
| _on_response_cb(rsp); | ||
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| return true; | ||
| } | ||
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| /************************************************************************************** | ||
| * NAMESPACE | ||
| **************************************************************************************/ | ||
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| } /* impl */ |
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