Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

ros/service_client.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #ifndef _ROS_SERVICE_CLIENT_H_
garyservin 0:9e9b7db60fd5 36 #define _ROS_SERVICE_CLIENT_H_
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 #include "rosserial_msgs/TopicInfo.h"
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 #include "ros/publisher.h"
garyservin 0:9e9b7db60fd5 41 #include "ros/subscriber.h"
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 namespace ros {
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 template<typename MReq , typename MRes>
garyservin 0:9e9b7db60fd5 46 class ServiceClient : public Subscriber_ {
garyservin 0:9e9b7db60fd5 47 public:
garyservin 0:9e9b7db60fd5 48 ServiceClient(const char* topic_name) :
garyservin 0:9e9b7db60fd5 49 pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
garyservin 0:9e9b7db60fd5 50 {
garyservin 0:9e9b7db60fd5 51 this->topic_ = topic_name;
garyservin 0:9e9b7db60fd5 52 this->waiting = true;
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 virtual void call(const MReq & request, MRes & response)
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 if(!pub.nh_->connected()) return;
garyservin 0:9e9b7db60fd5 58 ret = &response;
garyservin 0:9e9b7db60fd5 59 waiting = true;
garyservin 0:9e9b7db60fd5 60 pub.publish(&request);
garyservin 0:9e9b7db60fd5 61 while(waiting && pub.nh_->connected())
garyservin 0:9e9b7db60fd5 62 if(pub.nh_->spinOnce() < 0) break;
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 // these refer to the subscriber
garyservin 0:9e9b7db60fd5 66 virtual void callback(unsigned char *data){
garyservin 0:9e9b7db60fd5 67 ret->deserialize(data);
garyservin 0:9e9b7db60fd5 68 waiting = false;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70 virtual const char * getMsgType(){ return this->resp.getType(); }
garyservin 0:9e9b7db60fd5 71 virtual const char * getMsgMD5(){ return this->resp.getMD5(); }
garyservin 0:9e9b7db60fd5 72 virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 MReq req;
garyservin 0:9e9b7db60fd5 75 MRes resp;
garyservin 0:9e9b7db60fd5 76 MRes * ret;
garyservin 0:9e9b7db60fd5 77 bool waiting;
garyservin 0:9e9b7db60fd5 78 Publisher pub;
garyservin 0:9e9b7db60fd5 79 };
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 #endif