niryo_libraries.rospy.Service

class documentation

class Service(ServiceImpl):

Constructor: Service(name, service_class, handler, buff_size, error_handler)

Declare a ROS service. Service requests are passed to the specified handler.

Service Usage::: s = Service('getmapservice', GetMap, get_map_handler)

Method __init__ ctor.

Inherited from ServiceImpl:

Method	`error_handler`	Undocumented
Method	`handle`	Process incoming request. This method should be run in its own thread. If header['persistent'] is set to 1, method will block until connection is broken. @param transport: transport instance @type transport: L{TCPROSTransport} @param header: headers from client @type header: dict...
Method	`shutdown`	Stop this service @param reason: human-readable shutdown reason @type reason: str
Method	`spin`	Let service run and take over thread until service or node shutdown. Use this method to keep your scripts from exiting execution.
Instance Variable	`buff_size`	Undocumented
Instance Variable	`done`	Undocumented
Instance Variable	`handler`	Undocumented
Instance Variable	`protocol`	Undocumented
Instance Variable	`registered`	Undocumented
Instance Variable	`seq`	Undocumented
Instance Variable	`uri`	Undocumented
Method	`_handle_request`	Process a single incoming request. @param transport: transport instance @type transport: L{TCPROSTransport} @param request: Message @type request: genpy.Message
Method	`_write_service_error`	Send error message to client @param transport: transport connection to client @type transport: Transport @param err_msg: error message to send to client @type err_msg: str

def __init__(self, name, service_class, handler, buff_size=DEFAULT_BUFF_SIZE, error_handler=None): ¶

overrides niryo_libraries.rospy.impl.tcpros_service.ServiceImpl.__init__

ctor.

@param name: service name, str @param service_class: Service definition class

@param handler: callback function for processing service request. Function takes in a ServiceRequest and returns a ServiceResponse of the appropriate type. Function may also return a list, tuple, or dictionary with arguments to initialize a ServiceResponse instance of the correct type.

If handler cannot process request, it may either return None, to indicate failure, or it may raise a rospy.ServiceException to send a specific error message to the client. Returning None is always considered a failure.

@type handler: fn(req)->resp

@param buff_size: size of buffer for reading incoming requests. Should be at least size of request message @type buff_size: int

@param error_handler: callback function for handling errors raised in the service code. @type error_handler: fn(exception, exception_type, exception_value, traceback)->None