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