From 9a4b6a38080ed656484cba906e1d85aa9f6c2a8a Mon Sep 17 00:00:00 2001 From: Mati-ur-rehman-017 Date: Wed, 2 Apr 2025 13:42:05 +0500 Subject: [PATCH] Documentation for Arrow cpp Functions --- .gitignore | 1 + package-lock.json | 4 +- package.json | 1 + static/cpp/cpp-api.html | 1204 +++++++++++++++++++++++---------------- 4 files changed, 709 insertions(+), 501 deletions(-) diff --git a/.gitignore b/.gitignore index 6b249e51..ecd4c678 100644 --- a/.gitignore +++ b/.gitignore @@ -19,5 +19,6 @@ npm-debug.log* yarn-debug.log* yarn-error.log* +yarn.lock .vscode diff --git a/package-lock.json b/package-lock.json index aaa6fc65..4588e130 100644 --- a/package-lock.json +++ b/package-lock.json @@ -15,6 +15,7 @@ "@docusaurus/theme-mermaid": "^3.2.0", "@docusaurus/theme-search-algolia": "^3.2.0", "@fontsource/work-sans": "^5.0.18", + "@popperjs/core": "^2.11.8", "apexcharts": "^3.40.0", "bootstrap-icons": "^1.10.5", "clsx": "^1.2.1", @@ -3089,8 +3090,7 @@ "version": "2.11.8", "resolved": "https://registry.npmjs.org/@popperjs/core/-/core-2.11.8.tgz", "integrity": "sha512-P1st0aksCrn9sGZhp8GMYwBnQsbvAWsZAX44oXNNvLHGqAOcoVxmjZiohstwQ7SqKnbR47akdNi+uleWD8+g6A==", - "dev": true, - "peer": true, + "license": "MIT", "funding": { "type": "opencollective", "url": "https://opencollective.com/popperjs" diff --git a/package.json b/package.json index db7d638b..026ea20f 100644 --- a/package.json +++ b/package.json @@ -27,6 +27,7 @@ "@docusaurus/theme-mermaid": "^3.2.0", "@docusaurus/theme-search-algolia": "^3.2.0", "@fontsource/work-sans": "^5.0.18", + "@popperjs/core": "^2.11.8", "apexcharts": "^3.40.0", "bootstrap-icons": "^1.10.5", "clsx": "^1.2.1", diff --git a/static/cpp/cpp-api.html b/static/cpp/cpp-api.html index 67e1f5e5..966aca75 100644 --- a/static/cpp/cpp-api.html +++ b/static/cpp/cpp-api.html @@ -1,283 +1,321 @@ - - - - - dora.c++ API Documentation - - - - - - - - - - - - - - -
- -
- - - - - - -
-
- API Documentation   + + + + + dora.c++ API Documentation + + + + + + + + + + + + + + +
+ +
+ + + + + + +
+
+ API Documentation   +
+
+
+ + + + + + + +
+ +
-
- - - - - - - -
- -
- -
-
- - -
- -
+ +
+ +
- -
- -
+ +
+ +
-
-
- This documentation is experimental and is not yet linked with the - source code. Be aware of any error within this documentation. For - more: https://github.com/dora-rs/dora/pull/611 -
+
+
+ This documentation is experimental and is not yet linked + with the source code. Be aware of any error within this + documentation. For more: + https://github.com/dora-rs/dora/pull/611 +
-

Interface Documentation

-
-

dora-node-api.h

-
-

Functions

-
-
Init Dora Node
-
- All nodes need to register themselves with Dora at startup. To - do that, call the init_dora_node() function. The - function returns a DoraNode instance, which gives - access to dora events and enables sending Dora outputs. -
-
- 

+                
Interface Documentation

+                

+                    
dora-node-api.h

+                    

+                        
Functions

+                        

+                            
Init Dora Node

+                            

+                                All nodes need to register themselves with Dora
+                                at startup. To do that, call the
+                                init_dora_node() function. The
+                                function returns a
+                                DoraNode instance, which gives
+                                access to dora events and enables sending Dora
+                                outputs.
+                            

+                            

+                                

 auto dora_node = init_dora_node();
 

-              

+                            

 
-              
Receiving Events

-              

-                The dora_node.events field is a stream of incoming
-                events. To wait for the next incoming event, call
-                dora_node.events->next():
-                

-                  

+                            

+                                Receiving Events
+                            

+                            

+                                The dora_node.events field is a
+                                stream of incoming events. To wait for the next
+                                incoming event, call
+                                dora_node.events->next():
+                                

+                                    

 auto event = dora_node.events->next();
     

-                

-                The next function returns an opaque
-                DoraEvent type, which cannot be inspected from C++
-                directly. Instead, use the following functions to read and
-                destructure the event:
-              

-              

-                
    
-                  
  • 
-                    event_type(event) returns a
-                    DoraEventType, which describes the kind of
-                    event. For example, an event could be an input or a stop
-                    instruction.
-                  
    • 
-                  
  • 
-                    When receiving a
-                    DoraEventType::AllInputsClosed, the node should
-                    exit and not call next anymore.
-                  
    • 
-                  
  • 
-                    Events of type DoraEventType::Input can be
-                    downcasted using event_as_input:
-                    
    
-                      
    
+                                
    
+                                The next function returns an opaque
+                                DoraEvent type, which cannot be
+                                inspected from C++ directly. Instead, use the
+                                following functions to read and destructure the
+                                event:
+                            

+                            

+                                
    
+                                    
  • 
+                                        event_type(event) returns a
+                                        DoraEventType, which
+                                        describes the kind of event. For
+                                        example, an event could be an input or a
+                                        stop instruction.
+                                    
    • 
+                                    
  • 
+                                        When receiving a
+                                        DoraEventType::AllInputsClosed, the node should exit and not call
+                                        next anymore.
+                                    
    • 
+                                    
  • 
+                                        Events of type
+                                        DoraEventType::Input can be
+                                        downcasted using
+                                        event_as_input:
+                                        
    
+                                            
    
 auto input = event_as_input(std::move(event));
             
    
-                    
    
-                    The function returns a DoraInput instance,
-                    which has an id and data field.
-                  
    • 
-                  
  • 
-                    The input id can be converted to a C++ string
-                    through std::string(input.id).
-                  
    • 
-                  
  • 
-                    The data of inputs is currently of type
-                    rust::Vec<uint8_t>. Use the provided
-                    methods for reading or converting the data.
-                  
    • 
-                  
  • 
-                    Note: In the future, we plan to change the data type to the
-                    Apache Arrow data format to support typed inputs.
-                  
    • 
-                

-              

+                                        

+                                        The function returns a
+                                        DoraInput instance, which
+                                        has an id and
+                                        data field.
+                                    
+                                    
  • 
+                                        The input id can be
+                                        converted to a C++ string through
+                                        std::string(input.id).
+                                    
    • 
+                                    
  • 
+                                        The data of inputs is currently of type
+                                        rust::Vec<uint8_t>.
+                                        Use the provided methods for reading or
+                                        converting the data.
+                                    
    • 
+                                    
  • 
+                                        Note: For sending more datatypes, use Arrow api functions as described in Arrow section.
+                                    
    • 
+                                
+                            
    
 
-              
    Sending Outputs
    
-              
    
-                Nodes can send outputs using the
-                send_output function and the
-                dora_node.send_output field. Note that all outputs
-                need to be listed in the dataflow YAML declaration file,
-                otherwise an error will occur.
-              
    
-              
    
-                Example:
-                
    
-                  
    
+                            
    Sending Outputs
    
+                            
    
+                                Nodes can send outputs using the
+                                send_output function and the
+                                dora_node.send_output field. Note
+                                that all outputs need to be listed in the
+                                dataflow YAML declaration file, otherwise an
+                                error will occur.
+                            
    
+                            
    
+                                Example:
+                                
    
+                                    
    
 // the data you want to send (NOTE: only byte vectors are supported right now)
 std::vector<uint8_t> out_vec{42};
 // create a Rust slice from the output vector
@@ -293,179 +331,326 @@ 
    Functions
    
     return -1;
 }
     
    
-                
    
-              
    
+                                
    
+                            
    
+
+
+                            
    
+                                Using Arrow for I/O
+                            
    
+                            
    
+                                
    To use Arrow with Dora, you'll need to include the Arrow headers:
    
+                                
    
+#include <arrow/api.h>
+#include <arrow/c/bridge.h>
+                            
    
+                            
    
+                            
+                            
    
+                                
    Receiving Arrow Data
    
+                                
    After receiving events of type DoraEventType::Input, we can downcast using event_as_arrow_input. We need to pass two pointers to receive results in them which can be imported using the Arrow C Data Interface.
    
+                                
    
+                                    
    
+auto event = dora_node.events->next();
+auto type = event_type(event);
+if(type == DoraEventType::Input)
+{
+    struct ArrowArray c_array;
+    struct ArrowSchema c_schema;
+
+    auto result = event_as_arrow_input(
+    std::move(event),
+    reinterpret_cast(&c_array),
+    reinterpret_cast(&c_schema)
+    );
 
-              
    Using the ROS2 Bridge
    
-              
    
-                The dora-ros2-bindings.h contains function and
-                struct definitions that allow interacting with ROS2 nodes.
-                Currently, the bridge supports publishing and subscribing to
-                ROS2 topics. In the future, we plan to support ROS2 services and
-                ROS2 actions as well.
-              
    
+    if (!result.error.empty()) {
+        std::cerr << "Error getting Arrow array: " << result.error << std::endl;
+        return -1;
+    }
+
+    auto result2 = arrow::ImportArray(&c_array, &c_schema);
+    if (!result2.ok()) {
+        std::cerr << "Error importing Arrow array: " << result2.status().ToString() << std::endl;
+        return -1;
+    }
+    std::shared_ptr input_array = result2.ValueOrDie();
 
-              
    
-                Initializing the ROS2
-                Context
-              
    
-              
    
-                The first step is to initialize a ROS2 context:
-                
    
-                  
    
+    // Now you can use input_array with Arrow's API
+}
+                            
    
+                                
    
+                            
    
+                            
+                            
    
+                                
    Sending Arrow Data
    
+                                
    Nodes can send outputs using send_arrow_output. To do this, the data must first be converted to the Arrow format and then sent using the provided function. This uses the Arrow C Data interface and supports all types from the Arrow C Data Interface.
    
+                                
    
+                                    
    
+// Create an Arrow array
+std::shared_ptr output_array;
+
+arrow::Int32Builder builder;
+builder.Append(10);
+builder.Append(100);
+builder.Append(1000);
+builder.Finish(&output_array);
+
+// Export it to C Data Interface
+struct ArrowArray out_c_array;
+struct ArrowSchema out_c_schema;
+
+arrow::ExportArray(*output_array, &out_c_array, &out_c_schema);
+
+// Send it as output
+auto send_result = send_arrow_output(
+    dora_node.send_output,
+    "counter",
+    reinterpret_cast(&out_c_array),
+    reinterpret_cast(&out_c_schema)
+);
+
+// Check for errors
+auto error = std::string(send_result.error);
+if (!error.empty())
+{
+    std::cerr << "Error sending Arrow output: " << error << std::endl;
+    return -1;
+}
+                            
    
+                                
    
+                            
    
+                            
+                            
    
+                                
    For a complete working example using Arrow with Dora, see the C++ Arrow dataflow example in the Dora repository.
    
+                            
    
+                            
    
+                                Using the ROS2
+                                Bridge
+                            
    
+                            
    
+                                The dora-ros2-bindings.h contains
+                                function and struct definitions that allow
+                                interacting with ROS2 nodes. Currently, the
+                                bridge supports publishing and subscribing to
+                                ROS2 topics. In the future, we plan to support
+                                ROS2 services and ROS2 actions as well.
+                            
    
+
+                            
    
+                                Initializing the ROS2 Context
+                            
    
+                            
    
+                                The first step is to initialize a ROS2 context:
+                                
    
+                                    
    
 auto ros2_context = init_ros2_context();
     
    
-                
    
-              
    
+                                
    
+                            
    
+                            
    
+                                Using the ROS2
+                                Bridge
+                            
    
+                            
    
+                                The dora-ros2-bindings.h contains
+                                function and struct definitions that allow
+                                interacting with ROS2 nodes. Currently, the
+                                bridge supports publishing and subscribing to
+                                ROS2 topics. In the future, we plan to support
+                                ROS2 services and ROS2 actions as well.
+                            
    
+
+                            
    
+                                Initializing the ROS2 Context
+                            
    
+                            
    
+                                The first step is to initialize a ROS2 context:
+                                
    
+                                    
    
+auto ros2_context = init_ros2_context();
+    
    
+                                
    
+                            
    
 
-              
    Creating Nodes
    
-              
    
-                After initializing a ROS2 context, you can use it to create ROS2
-                nodes:
-                
    
-                  
    
+                            
    Creating Nodes
    
+                            
    
+                                After initializing a ROS2 context, you can use
+                                it to create ROS2 nodes:
+                                
    
+                                    
    
 auto node = ros2_context->new_node("/ros2_demo", "turtle_teleop");
     
    
-                
    
-                The first argument is the namespace of the node and the second
-                argument is its name.
-              
    
+                                
    
+                                The first argument is the namespace of the node
+                                and the second argument is its name.
+                            
    
 
-              
    Creating Topics
    
-              
    
-                After creating a node, you can use one of the
-                create_topic_<TYPE> functions to create a
-                topic on it. The <TYPE> describes the message
-                type that will be sent on the topic. The Dora ROS2 bridge
-                automatically creates
-                create_topic_<TYPE> functions for all message
-                types found in the sourced ROS2 environment.
-                
    
-                  
    
+                            
    Creating Topics
    
+                            
    
+                                After creating a node, you can use one of the
+                                create_topic_<TYPE> functions
+                                to create a topic on it. The
+                                <TYPE> describes the message
+                                type that will be sent on the topic. The Dora
+                                ROS2 bridge automatically creates
+                                create_topic_<TYPE> functions
+                                for all message types found in the sourced ROS2
+                                environment.
+                                
    
+                                    
    
 auto vel_topic = node->create_topic_geometry_msgs_Twist("/turtle1", "cmd_vel", qos_default());
     
    
-                
    
-                The first argument is the namespace of the topic and the second
-                argument is its name. The third argument is the QoS (quality of
-                service) setting for the topic. It can be adjusted as desired,
-                for example:
-                
    
-                  
    
+                                
    
+                                The first argument is the namespace of the topic
+                                and the second argument is its name. The third
+                                argument is the QoS (quality of service) setting
+                                for the topic. It can be adjusted as desired,
+                                for example:
+                                
    
+                                    
    
 auto qos = qos_default();
 qos.durability = Ros2Durability::Volatile;
 qos.liveliness = Ros2Liveliness::Automatic;
 auto vel_topic = node->create_topic_geometry_msgs_Twist("/turtle1", "cmd_vel", qos);
     
    
-                
    
-              
    
+                                
    
+                            
    
 
-              
    Publish
    
-              
    
-                After creating a topic, it is possible to publish messages on
-                it. First, create a publisher:
-                
    
-                  
    
+                            
    Publish
    
+                            
    
+                                After creating a topic, it is possible to
+                                publish messages on it. First, create a
+                                publisher:
+                                
    
+                                    
    
 auto vel_publisher = node->create_publisher(vel_topic, qos);
     
    
-                
    
-                The returned publisher is typed by the chosen topic. It will
-                only accept messages of the topic's type, otherwise a compile
-                error will occur. After creating a publisher, you can use the
-                publish function to publish one or more messages.
-                For example:
-                
    
-                  
    
+                                
    
+                                The returned publisher is typed by the chosen
+                                topic. It will only accept messages of the
+                                topic's type, otherwise a compile error will
+                                occur. After creating a publisher, you can use
+                                the
+                                publish function to publish one or
+                                more messages. For example:
+                                
    
+                                    
    
 geometry_msgs::Twist twist = {
     .linear = {.x = 1, .y = 0, .z = 0},
     .angular = {.x = 0, .y = 0, .z = 0.5}
 };
 vel_publisher->publish(twist);
     
    
-                
    
-                The geometry_msgs::Twist struct is automatically
-                generated from the sourced ROS2 environment. Since the publisher
-                is typed, its publish method only accepts
-                geometry_msgs::Twist messages.
-              
    
+                                
    
+                                The geometry_msgs::Twist struct is
+                                automatically generated from the sourced ROS2
+                                environment. Since the publisher is typed, its
+                                publish method only accepts
+                                geometry_msgs::Twist messages.
+                            
    
 
-              
    Subscriptions
    
-              
    
-                Subscribing to a topic is possible through the
-                create_subscription function on nodes:
-                
    
-                  
    
+                            
    Subscriptions
    
+                            
    
+                                Subscribing to a topic is possible through the
+                                create_subscription function on
+                                nodes:
+                                
    
+                                    
    
 auto pose_topic = node->create_topic_turtlesim_Pose("/turtle1", "pose", qos_default());
 auto pose_subscription = node->create_subscription(pose_topic, qos_default(), event_stream);
     
    
-                
    
-                The topic is the topic you want to subscribe to, created using a
-                create_topic_<TYPE> function. The second
-                argument is the quality of service setting, which can be
-                customized as described above. The third parameter is the event
-                stream that the received messages should be merged into.
-                Multiple subscriptions can be merged into the same event stream.
-              
    
+                                
    
+                                The topic is the topic you want to subscribe to,
+                                created using a
+                                create_topic_<TYPE> function.
+                                The second argument is the quality of service
+                                setting, which can be customized as described
+                                above. The third parameter is the event stream
+                                that the received messages should be merged
+                                into. Multiple subscriptions can be merged into
+                                the same event stream.
+                            
    
 
-              
    Combined Event Streams
    
-              
    
-                Combined event streams enable the merging of multiple event
-                streams into one. The combined stream will then deliver messages
-                from all sources, in order of arrival. You can create such an
-                event stream from Dora's event stream using the
-                dora_events_into_combined function:
-                
    
-                  
    
+                            
    
+                                Combined
+                                Event Streams
+                            
    
+                            
    
+                                Combined event streams enable the merging of
+                                multiple event streams into one. The combined
+                                stream will then deliver messages from all
+                                sources, in order of arrival. You can create
+                                such an event stream from Dora's event stream
+                                using the
+                                dora_events_into_combined function:
+                                
    
+                                    
    
 auto event_stream = dora_events_into_combined(std::move(dora_node.events));
     
    
-                
    
-                Alternatively, if you don't want to use Dora, you can also
-                create an empty event stream:
-                
    
-                  
    
+                                
    
+                                Alternatively, if you don't want to use Dora,
+                                you can also create an empty event stream:
+                                
    
+                                    
    
 auto event_stream = empty_combined_events();
     
    
-                
    
-                Note: You should only use empty_combined_events if
-                you're running your executable independent of Dora. Ignoring the
-                events from the dora_node.events channel can result
-                in unintended behavior.
-              
    
+                                
    
+                                Note: You should only use
+                                empty_combined_events if you're
+                                running your executable independent of Dora.
+                                Ignoring the events from the
+                                dora_node.events channel can result
+                                in unintended behavior.
+                            
    
 
-              
    
-                Receiving Messages from Combined Event Stream
-              
    
-              
    
-                The merged event stream will receive all incoming events of the
-                node, including Dora events and ROS2 messages. To wait for the
-                next incoming event, use its next method:
-                
    
-                  
    
+                            
    
+                                Receiving Messages from Combined Event Stream
+                            
    
+                            
    
+                                The merged event stream will receive all
+                                incoming events of the node, including Dora
+                                events and ROS2 messages. To wait for the next
+                                incoming event, use its
+                                next method:
+                                
    
+                                    
    
 auto event = event_stream.next();
     
    
-                
    
-                This returns an event instance of type
-                CombinedEvent, which can be downcasted to Dora
-                events or ROS2 messages. To handle an event, you should check
-                its type and then downcast it:
-                
      
-                  
    • 
-                    To check for a Dora event, you can use the
-                    is_dora() function. If it returns true, you can
-                    downcast the combined event to a Dora event using the
-                    downcast_dora function.
-                  
      • 
-                  
    • 
-                    ROS2 subscriptions support a matches function
-                    to check whether a combined event is an instance of the
-                    respective ROS2 subscription. If it returns true, you can
-                    downcast the event to the respective ROS2 message struct
-                    using the subscription's downcast function.
-                  
      • 
-                
    
-                Example:
-                
    
-                  
    
+                                
    
+                                This returns an event instance of type
+                                CombinedEvent, which can be
+                                downcasted to Dora events or ROS2 messages. To
+                                handle an event, you should check its type and
+                                then downcast it:
+                                
      
+                                    
    • 
+                                        To check for a Dora event, you can use
+                                        the
+                                        is_dora() function. If it
+                                        returns true, you can downcast the
+                                        combined event to a Dora event using the
+                                        downcast_dora function.
+                                    
      • 
+                                    
    • 
+                                        ROS2 subscriptions support a
+                                        matches function to check
+                                        whether a combined event is an instance
+                                        of the respective ROS2 subscription. If
+                                        it returns true, you can downcast the
+                                        event to the respective ROS2 message
+                                        struct using the subscription's
+                                        downcast function.
+                                    
      • 
+                                
    
+                                Example:
+                                
    
+                                    
    
 if (event.is_dora())
 {
     auto dora_event = downcast_dora(std::move(event));
@@ -488,36 +673,42 @@ 
    Functions
    
     std::cout << "received unexpected event" << std::endl;
 }
     
    
-                
    
-              
    
+                                
    
+                            
    
 
-              
    Constants
    
-              
    
-                Some ROS2 message definitions define constants, e.g., to specify
-                the values of an enum-like integer field. The Dora ROS2 bridge
-                exposes these constants in the generated bindings as functions.
-                For example, the STATUS_NO_FIX constant of the
-                NavSatStatus message can be accessed as follows:
-                
    
-                  
    
+                            
    Constants
    
+                            
    
+                                Some ROS2 message definitions define constants,
+                                e.g., to specify the values of an enum-like
+                                integer field. The Dora ROS2 bridge exposes
+                                these constants in the generated bindings as
+                                functions. For example, the
+                                STATUS_NO_FIX constant of the
+                                NavSatStatus message can be
+                                accessed as follows:
+                                
    
+                                    
    
 assert((sensor_msgs::const_NavSatStatus_STATUS_NO_FIX() == -1));
     
    
-                
    
-                (Note: Exposing them as C++ constants is not possible because
-                it's not supported by cxx yet.)
-              
    
+                                
    
+                                (Note: Exposing them as C++ constants is not
+                                possible because it's not supported by cxx yet.)
+                            
    
 
-              
    Service Clients
    
-              
    
-                To create a service client, use one of the
-                create_client_<TYPE> functions. The
-                <TYPE> describes the service type, which
-                specifies the request and response types. The Dora ROS2 bridge
-                automatically creates
-                create_client_<TYPE> functions for all
-                service types found in the sourced ROS2 environment.
-                
    
-                  
    
+                            
    Service Clients
    
+                            
    
+                                To create a service client, use one of the
+                                create_client_<TYPE>
+                                functions. The
+                                <TYPE> describes the service
+                                type, which specifies the request and response
+                                types. The Dora ROS2 bridge automatically
+                                creates
+                                create_client_<TYPE>
+                                functions for all service types found in the
+                                sourced ROS2 environment.
+                                
    
+                                    
    
 auto add_two_ints = node->create_client_example_interfaces_AddTwoInts(
   "/",
   "add_two_ints",
@@ -525,64 +716,79 @@ 
    Functions
    
   merged_events
 );
     
    
-                
    
-                The first argument is the namespace of the service and the
-                second argument is its name. The third argument is the QoS
-                (quality of service) setting for the service. It can be set to
-                qos_default() or adjusted as desired, for example:
-                
    
-                  
    
+                                
    
+                                The first argument is the namespace of the
+                                service and the second argument is its name. The
+                                third argument is the QoS (quality of service)
+                                setting for the service. It can be set to
+                                qos_default() or adjusted as
+                                desired, for example:
+                                
    
+                                    
    
 auto qos = qos_default();
 qos.reliable = true;
 qos.max_blocking_time = 0.1;
 qos.keep_last = 1;
     
    
-                
    
-                The last argument is the combined event stream that the received
-                service responses should be merged into.
-              
    
+                                
    
+                                The last argument is the combined event stream
+                                that the received service responses should be
+                                merged into.
+                            
    
 
-              
    
-                Waiting for the Service
-              
    
-              
    
-                In order to achieve reliable service communication, it is
-                recommended to wait until the service is available before
-                sending requests. Use the wait_for_service() method
-                for that, e.g.:
-                
    
-                  
    
+                            
    
+                                Waiting for
+                                the Service
+                            
    
+                            
    
+                                In order to achieve reliable service
+                                communication, it is recommended to wait until
+                                the service is available before sending
+                                requests. Use the
+                                wait_for_service() method for that,
+                                e.g.:
+                                
    
+                                    
    
 add_two_ints->wait_for_service(node);
     
    
-                
    
-                The given node must be the node on which the service was
-                created.
-              
    
+                                
    
+                                The given node must be the node on which the
+                                service was created.
+                            
    
 
-              
    Sending Requests
    
-              
    
-                To send a request, use the send_request method:
-                
    
-                  
    
+                            
    
+                                Sending Requests
+                            
    
+                            
    
+                                To send a request, use the
+                                send_request method:
+                                
    
+                                    
    
 add_two_ints->send_request(request);
     
    
-                
    
-                The method sends the request asynchronously without waiting for
-                a response. When the response is received, it is automatically
-                sent to the combined event stream that was given on client
-                creation.
-              
    
+                                
    
+                                The method sends the request asynchronously
+                                without waiting for a response. When the
+                                response is received, it is automatically sent
+                                to the combined event stream that was given on
+                                client creation.
+                            
    
 
-              
    Receiving Responses
    
-              
    
-                See the "Receiving Messages from Combined Event Stream" section
-                for how to receive events from the combined event stream. To
-                check if a received event is a service response, use the
-                matches method. If it returns true, you can use the
-                downcast method to convert the event to the correct
-                service response type. Example:
-                
    
-                  
    
+                            
    
+                                Receiving
+                                Responses
+                            
    
+                            
    
+                                See the "Receiving Messages from Combined Event
+                                Stream" section for how to receive events from
+                                the combined event stream. To check if a
+                                received event is a service response, use the
+                                matches method. If it returns true,
+                                you can use the downcast method to
+                                convert the event to the correct service
+                                response type. Example:
+                                
    
+                                    
    
 if (add_two_ints->matches(event))
 {
     auto response = add_two_ints->downcast(std::move(event));
@@ -590,31 +796,31 @@ 
    Functions
    
     ...
 }
     
    
+                                
    
+                            
    
+
    +
    - - -
    +
    + +
    + + + -
    - - - - - - +