Service Provider Process Data Inspection

This service provider creates services to inspect process data content via asynchronous service calls.

Usage

To use this service provider it just has to be loaded by robotkernel in the service_providers section.

service_providers:
- name: mi_sp
  so_file: libservice_provider_process_data_inspection.so

Services

in : Read input data memory

name: service_provider/process_data_inspection/in
response:
- vector/uint8_t: data
- string: error_message

out : Read outpout data memory

name: service_provider/process_data_inspection/out
response:
- vector/uint8_t: data
- string: error_message

Implementation specific

Either use conan to add the needed include and library pathes to you project or use pkg-config with the provided pc-file.

First thing to do is to include the base header:

#include "service_provider/process_data_inspection/base.h"

After this you have to dervive a class from the service_provider::process_data_inspection::base class and implement the corresponding process data inspection functions.

class my_class : public service_provider::process_data_inspection::base {
    public:
        my_class() { /* init things here */ }

        //! return input process data (measurements)
        /*!
         * \param pd return input process data
         */
        virtual void get_pdin(pd_t& pd) { /* fill pd struct here */ }

        //! return output process data (commands)
        /*!
         * \param pd return output process data
         */
        virtual void get_pdout(pd_t& pd) { /* fill pd struct here */ }
};