Merge pull request #1 from ros2/request_reply

Added support for services and clients

Author: esteve

ros_middleware_interface/include/ros_middleware_interface/functions.h

@@ -2,12 +2,19 @@
 #define __ros_middleware_interface__functions__h__
 
 #include "rosidl_generator_cpp/MessageTypeSupport.h"
+#include "rosidl_generator_cpp/ServiceTypeSupport.h"
 
 #include "handles.h"
 
 namespace ros_middleware_interface
 {
 
+typedef enum
+{
+  ROS2_RETCODE_OK = 0,
+  ROS2_RETCODE_ERROR = 1,
+} ROS2_RETCODE_t;
+
 void init();
 
 NodeHandle create_node();
@@ -27,8 +34,21 @@ GuardConditionHandle create_guard_condition();
 
 void trigger_guard_condition(const GuardConditionHandle& guard_condition_handle);
 
-void wait(SubscriberHandles& subscriber_handles, GuardConditionHandles& guard_condition_handles, bool non_blocking);
+void wait(SubscriberHandles& subscriber_handles, GuardConditionHandles& guard_condition_handles, ServiceHandles& service_handles, ClientHandles& client_handles, bool non_blocking);
+
+ClientHandle create_client(const NodeHandle& node_handle, const rosidl_generator_cpp::ServiceTypeSupportHandle & service_type_support_handle, const char * service_name);
+
+int64_t send_request(const ClientHandle& client_handle, const void * ros_request);
+
+ROS2_RETCODE_t receive_response(const ClientHandle& client_handle, void * ros_response);
+
+bool take_response(const ClientHandle& client_handle, void * ros_response, void * ros_request_header);
+
+ServiceHandle create_service(const NodeHandle& node_handle, const rosidl_generator_cpp::ServiceTypeSupportHandle & service_type_support_handle, const char * service_name);
+
+bool take_request(const ServiceHandle& service_handle, void * ros_request, void * ros_request_header);
 
+void send_response(const ServiceHandle& service_handle, void * ros_request_header, void * ros_response);
 }
 
 #endif  // __ros_middleware_interface__functions__h__

ros_middleware_interface/include/ros_middleware_interface/handles.h

@@ -34,6 +34,26 @@ typedef struct GuardConditionHandles {
   void * * guard_conditions_;
 } GuardConditionHandles;
 
+typedef struct ClientHandle {
+  const char * implementation_identifier_;
+  void * data_;
+} ClientHandle;
+
+typedef struct ClientHandles {
+  unsigned long client_count_;
+  void * * clients_;
+} ClientHandles;
+
+typedef struct ServiceHandle {
+  const char * implementation_identifier_;
+  void * data_;
+} ServiceHandle;
+
+typedef struct ServiceHandles {
+  unsigned long service_count_;
+  void * * services_;
+} ServiceHandles;
+
 }
 
 #endif  // __ros_middleware_interface__handles__h__

ros_middleware_interface/include/ros_middleware_interface/rpc.h

@@ -0,0 +1,16 @@
+#ifndef __ros_middleware_interface__rpc__h__
+#define __ros_middleware_interface__rpc__h__
+
+#include <cstdint>
+
+namespace ros_middleware_interface
+{
+
+typedef struct RequestId {
+  int8_t writer_guid[16];
+  int64_t sequence_number;
+} RequestId;
+
+}
+
+#endif  // __ros_middleware_interface__rpc__h__