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Diff: ros/service_client.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros/service_client.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,83 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote prducts derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _ROS_SERVICE_CLIENT_H_ +#define _ROS_SERVICE_CLIENT_H_ + +#include "rosserial_msgs/TopicInfo.h" + +#include "ros/publisher.h" +#include "ros/subscriber.h" + +namespace ros { + + template<typename MReq , typename MRes> + class ServiceClient : public Subscriber_ { + public: + ServiceClient(const char* topic_name) : + pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER) + { + this->topic_ = topic_name; + this->waiting = true; + } + + virtual void call(const MReq & request, MRes & response) + { + if(!pub.nh_->connected()) return; + ret = &response; + waiting = true; + pub.publish(&request); + while(waiting && pub.nh_->connected()) + if(pub.nh_->spinOnce() < 0) break; + } + + // these refer to the subscriber + virtual void callback(unsigned char *data){ + ret->deserialize(data); + waiting = false; + } + virtual const char * getMsgType(){ return this->resp.getType(); } + virtual const char * getMsgMD5(){ return this->resp.getMD5(); } + virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; } + + MReq req; + MRes resp; + MRes * ret; + bool waiting; + Publisher pub; + }; + +} + +#endif