sas::SimulatorServer Class Reference

Server exposing simulator control services. More...

#include <sas_simulator_server.hpp>

Inheritance diagram for sas::SimulatorServer:

Public Member Functions
	SimulatorServer (const SimulatorServer &)=delete
	SimulatorServer (const std::shared_ptr< Node > &node, const std::string topic_prefix="GET_FROM_NODE")
	Construct a new SimulatorServer.
void	set_start_simulation_callback (const std::function< void()> &)
	Register a callback executed when the start service is called.
void	set_stop_simulation_callback (const std::function< void()> &)
	Register a callback executed when the stop service is called.
bool	is_enabled () const
	Query whether the server is enabled.
std::string	get_topic_prefix () const
	Get the configured topic/service prefix.

Detailed Description

Server exposing simulator control services.

SimulatorServer provides ROS service servers for starting and stopping a simulator (std_srvs::srv::Trigger). Callers can register callbacks that will be executed when the corresponding service is invoked. The class also exposes query methods for enabled state and topic/service prefix.

Constructor & Destructor Documentation

SimulatorServer()

sas::SimulatorServer::SimulatorServer	(	const std::shared_ptr< Node > &	node,
		const std::string	topic_prefix = "GET_FROM_NODE"
	)

Construct a new SimulatorServer.

Parameters

node	Shared pointer to the rclcpp::Node used for ROS communications.
topic_prefix	Topic/service prefix used to build service names. Defaults to "GET_FROM_NODE".

Member Function Documentation

get_topic_prefix()

std::string sas::SimulatorServer::get_topic_prefix

(

)

const

Get the configured topic/service prefix.

Returns

std::string The topic/service prefix used by this server.

is_enabled()

bool sas::SimulatorServer::is_enabled

(

)

const

Query whether the server is enabled.

Returns

true if enabled, false otherwise.

set_start_simulation_callback()

void sas::SimulatorServer::set_start_simulation_callback

(

const std::function< void()> &

start_simulation_callback

)

Register a callback executed when the start service is called.

Parameters

cb	Function invoked on start service requests.

set_stop_simulation_callback()

void sas::SimulatorServer::set_stop_simulation_callback

(

const std::function< void()> &

stop_simulation_callback

)

Register a callback executed when the stop service is called.

Parameters

cb	Function invoked on stop service requests.

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The documentation for this class was generated from the following files:

• src/sas_common/include/sas_common/sas_simulator_server.hpp
• src/sas_common/src/sas_simulator_server.cpp