modify for Hydro version
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Diff: ros/service_client.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/ros/service_client.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,83 +0,0 @@ -/* - * 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 "publisher.h" -#include "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 \ No newline at end of file