roslib
Version:
The standard ROS Javascript Library
50 lines (49 loc) • 2.28 kB
TypeScript
import { EventEmitter } from 'eventemitter3';
import { default as Ros } from './Ros.ts';
/**
* A ROS service client.
*/
export default class Service<TRequest = unknown, TResponse = unknown> extends EventEmitter {
#private;
isAdvertised: boolean;
ros: Ros;
name: string;
serviceType: string;
/**
* @param options
* @param options.ros - The ROSLIB.Ros connection handle.
* @param options.name - The service name, like '/add_two_ints'.
* @param options.serviceType - The service type, like 'rospy_tutorials/AddTwoInts'.
*/
constructor({ ros, name, serviceType, }: {
ros: Ros;
name: string;
serviceType: string;
});
/**
* Call the service. Returns the service response in the
* callback. Does nothing if this service is currently advertised.
*
* @param request - The service request to send.
* @param [callback] - Function with the following params:
* @param [failedCallback] - The callback function when the service call failed with params:
* @param [timeout] - Optional timeout, in seconds, for the service call. A non-positive value means no timeout.
* If not provided, the rosbridge server will use its default value.
*/
callService(request: TRequest, callback?: (response: TResponse) => void, failedCallback?: (error: string) => void, timeout?: number): void;
/**
* Advertise the service. This turns the Service object from a client
* into a server. The callback will be called with every request
* that's made on this service.
*
* @param callback This works similarly to the callback for a C++ service in that you should take care not to overwrite the response object.
* Instead, only modify the values within.
*/
advertise(callback: (request: TRequest, response: Partial<TResponse>) => boolean): Promise<void>;
unadvertise(): Promise<void>;
/**
* An alternate form of Service advertisement that supports a modern Promise-based interface for use with async/await.
* @param callback An asynchronous callback processing the request and returning a response.
*/
advertiseAsync(callback: (request: TRequest) => Promise<TResponse>): Promise<void>;
}