Wrapper over uavcan::ServiceClient<> for blocking calls. More...

#include <helpers.hpp>

Public Member Functions
int	blockingCall (uavcan::NodeID server_node_id, const typename DataType::Request &request)
	Performs a blocking service call using default timeout (see the specs).
int	blockingCall (uavcan::NodeID server_node_id, const typename DataType::Request &request, uavcan::MonotonicDuration timeout)
	Performs a blocking service call using the specified timeout.
bool	wasSuccessful () const
	Whether the last blocking call was successful.
const DataType::Response &	getResponse () const
	Use this to retrieve the response of the last blocking service call.

Detailed Description

Wrapper over uavcan::ServiceClient<> for blocking calls.

Blocks on uavcan::Node::spin() internally until the call is complete.

Member Function Documentation

int blockingCall	(	uavcan::NodeID	server_node_id,
		const typename DataType::Request &	request
	)

Performs a blocking service call using default timeout (see the specs).

Use getResponse() to get the actual response. Returns negative error code.

int blockingCall	(	uavcan::NodeID	server_node_id,
		const typename DataType::Request &	request,
		uavcan::MonotonicDuration	timeout
	)

Performs a blocking service call using the specified timeout.

Please consider using default timeout instead. Use getResponse() to get the actual response. Returns negative error code.

const DataType::Response& getResponse ( ) const

Use this to retrieve the response of the last blocking service call.

This method returns default constructed response object if the last service call was unsuccessful.

bool wasSuccessful ( ) const

Whether the last blocking call was successful.