jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

ros/service_client.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

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jjzak 6:3c54bc7badd4 1 /*
jjzak 6:3c54bc7badd4 2 * Software License Agreement (BSD License)
jjzak 6:3c54bc7badd4 3 *
jjzak 6:3c54bc7badd4 4 * Copyright (c) 2011, Willow Garage, Inc.
jjzak 6:3c54bc7badd4 5 * All rights reserved.
jjzak 6:3c54bc7badd4 6 *
jjzak 6:3c54bc7badd4 7 * Redistribution and use in source and binary forms, with or without
jjzak 6:3c54bc7badd4 8 * modification, are permitted provided that the following conditions
jjzak 6:3c54bc7badd4 9 * are met:
jjzak 6:3c54bc7badd4 10 *
jjzak 6:3c54bc7badd4 11 * * Redistributions of source code must retain the above copyright
jjzak 6:3c54bc7badd4 12 * notice, this list of conditions and the following disclaimer.
jjzak 6:3c54bc7badd4 13 * * Redistributions in binary form must reproduce the above
jjzak 6:3c54bc7badd4 14 * copyright notice, this list of conditions and the following
jjzak 6:3c54bc7badd4 15 * disclaimer in the documentation and/or other materials provided
jjzak 6:3c54bc7badd4 16 * with the distribution.
jjzak 6:3c54bc7badd4 17 * * Neither the name of Willow Garage, Inc. nor the names of its
jjzak 6:3c54bc7badd4 18 * contributors may be used to endorse or promote prducts derived
jjzak 6:3c54bc7badd4 19 * from this software without specific prior written permission.
jjzak 6:3c54bc7badd4 20 *
jjzak 6:3c54bc7badd4 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
jjzak 6:3c54bc7badd4 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
jjzak 6:3c54bc7badd4 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
jjzak 6:3c54bc7badd4 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
jjzak 6:3c54bc7badd4 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
jjzak 6:3c54bc7badd4 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
jjzak 6:3c54bc7badd4 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
jjzak 6:3c54bc7badd4 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
jjzak 6:3c54bc7badd4 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
jjzak 6:3c54bc7badd4 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
jjzak 6:3c54bc7badd4 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
jjzak 6:3c54bc7badd4 32 * POSSIBILITY OF SUCH DAMAGE.
jjzak 6:3c54bc7badd4 33 */
jjzak 6:3c54bc7badd4 34
jjzak 6:3c54bc7badd4 35 #ifndef _ROS_SERVICE_CLIENT_H_
jjzak 6:3c54bc7badd4 36 #define _ROS_SERVICE_CLIENT_H_
jjzak 6:3c54bc7badd4 37
jjzak 6:3c54bc7badd4 38 #include "rosserial_msgs/TopicInfo.h"
jjzak 6:3c54bc7badd4 39
jjzak 6:3c54bc7badd4 40 #include "publisher.h"
jjzak 6:3c54bc7badd4 41 #include "subscriber.h"
jjzak 6:3c54bc7badd4 42
jjzak 6:3c54bc7badd4 43 namespace ros {
jjzak 6:3c54bc7badd4 44
jjzak 6:3c54bc7badd4 45 template<typename MReq , typename MRes>
jjzak 6:3c54bc7badd4 46 class ServiceClient : public Subscriber_ {
jjzak 6:3c54bc7badd4 47 public:
jjzak 6:3c54bc7badd4 48 ServiceClient(const char* topic_name) :
jjzak 6:3c54bc7badd4 49 pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
jjzak 6:3c54bc7badd4 50 {
jjzak 6:3c54bc7badd4 51 this->topic_ = topic_name;
jjzak 6:3c54bc7badd4 52 this->waiting = true;
jjzak 6:3c54bc7badd4 53 }
jjzak 6:3c54bc7badd4 54
jjzak 6:3c54bc7badd4 55 virtual void call(const MReq & request, MRes & response)
jjzak 6:3c54bc7badd4 56 {
jjzak 6:3c54bc7badd4 57 if(!pub.nh_->connected()) return;
jjzak 6:3c54bc7badd4 58 ret = &response;
jjzak 6:3c54bc7badd4 59 waiting = true;
jjzak 6:3c54bc7badd4 60 pub.publish(&request);
jjzak 6:3c54bc7badd4 61 while(waiting && pub.nh_->connected())
jjzak 6:3c54bc7badd4 62 if(pub.nh_->spinOnce() < 0) break;
jjzak 6:3c54bc7badd4 63 }
jjzak 6:3c54bc7badd4 64
jjzak 6:3c54bc7badd4 65 // these refer to the subscriber
jjzak 6:3c54bc7badd4 66 virtual void callback(unsigned char *data){
jjzak 6:3c54bc7badd4 67 ret->deserialize(data);
jjzak 6:3c54bc7badd4 68 waiting = false;
jjzak 6:3c54bc7badd4 69 }
jjzak 6:3c54bc7badd4 70 virtual const char * getMsgType(){ return this->resp.getType(); }
jjzak 6:3c54bc7badd4 71 virtual const char * getMsgMD5(){ return this->resp.getMD5(); }
jjzak 6:3c54bc7badd4 72 virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
jjzak 6:3c54bc7badd4 73
jjzak 6:3c54bc7badd4 74 MReq req;
jjzak 6:3c54bc7badd4 75 MRes resp;
jjzak 6:3c54bc7badd4 76 MRes * ret;
jjzak 6:3c54bc7badd4 77 bool waiting;
jjzak 6:3c54bc7badd4 78 Publisher pub;
jjzak 6:3c54bc7badd4 79 };
jjzak 6:3c54bc7badd4 80
jjzak 6:3c54bc7badd4 81 }
jjzak 6:3c54bc7badd4 82
jjzak 6:3c54bc7badd4 83 #endif
jjzak 6:3c54bc7badd4 84