66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
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#include <string>
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#include "rclcpp/callback_group.hpp"
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#include "rclcpp/client.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/service.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace node_interfaces
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{
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/// Pure virtual interface class for the NodeServices part of the Node API.
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class NodeServicesInterface
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(NodeServicesInterface)
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RCLCPP_PUBLIC
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virtual
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~NodeServicesInterface() = default;
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RCLCPP_PUBLIC
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virtual
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void
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add_client(
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rclcpp::ClientBase::SharedPtr client_base_ptr,
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rclcpp::CallbackGroup::SharedPtr group) = 0;
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RCLCPP_PUBLIC
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virtual
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void
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add_service(
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rclcpp::ServiceBase::SharedPtr service_base_ptr,
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rclcpp::CallbackGroup::SharedPtr group) = 0;
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/// Get the remapped and expanded service name given a input name.
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RCLCPP_PUBLIC
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virtual
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std::string
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resolve_service_name(const std::string & name, bool only_expand = false) const = 0;
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};
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
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