Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

ros/service_client.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 /*
Gary Servin 0:04ac6be8229a 2 * Software License Agreement (BSD License)
Gary Servin 0:04ac6be8229a 3 *
Gary Servin 0:04ac6be8229a 4 * Copyright (c) 2011, Willow Garage, Inc.
Gary Servin 0:04ac6be8229a 5 * All rights reserved.
Gary Servin 0:04ac6be8229a 6 *
Gary Servin 0:04ac6be8229a 7 * Redistribution and use in source and binary forms, with or without
Gary Servin 0:04ac6be8229a 8 * modification, are permitted provided that the following conditions
Gary Servin 0:04ac6be8229a 9 * are met:
Gary Servin 0:04ac6be8229a 10 *
Gary Servin 0:04ac6be8229a 11 * * Redistributions of source code must retain the above copyright
Gary Servin 0:04ac6be8229a 12 * notice, this list of conditions and the following disclaimer.
Gary Servin 0:04ac6be8229a 13 * * Redistributions in binary form must reproduce the above
Gary Servin 0:04ac6be8229a 14 * copyright notice, this list of conditions and the following
Gary Servin 0:04ac6be8229a 15 * disclaimer in the documentation and/or other materials provided
Gary Servin 0:04ac6be8229a 16 * with the distribution.
Gary Servin 0:04ac6be8229a 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Gary Servin 0:04ac6be8229a 18 * contributors may be used to endorse or promote prducts derived
Gary Servin 0:04ac6be8229a 19 * from this software without specific prior written permission.
Gary Servin 0:04ac6be8229a 20 *
Gary Servin 0:04ac6be8229a 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Gary Servin 0:04ac6be8229a 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Gary Servin 0:04ac6be8229a 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Gary Servin 0:04ac6be8229a 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Gary Servin 0:04ac6be8229a 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Gary Servin 0:04ac6be8229a 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Gary Servin 0:04ac6be8229a 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Gary Servin 0:04ac6be8229a 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Gary Servin 0:04ac6be8229a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Gary Servin 0:04ac6be8229a 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Gary Servin 0:04ac6be8229a 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Gary Servin 0:04ac6be8229a 32 * POSSIBILITY OF SUCH DAMAGE.
Gary Servin 0:04ac6be8229a 33 */
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 #ifndef _ROS_SERVICE_CLIENT_H_
Gary Servin 0:04ac6be8229a 36 #define _ROS_SERVICE_CLIENT_H_
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 #include "rosserial_msgs/TopicInfo.h"
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 #include "ros/publisher.h"
Gary Servin 0:04ac6be8229a 41 #include "ros/subscriber.h"
Gary Servin 0:04ac6be8229a 42
Gary Servin 0:04ac6be8229a 43 namespace ros
Gary Servin 0:04ac6be8229a 44 {
Gary Servin 0:04ac6be8229a 45
Gary Servin 0:04ac6be8229a 46 template<typename MReq , typename MRes>
Gary Servin 0:04ac6be8229a 47 class ServiceClient : public Subscriber_
Gary Servin 0:04ac6be8229a 48 {
Gary Servin 0:04ac6be8229a 49 public:
Gary Servin 0:04ac6be8229a 50 ServiceClient(const char* topic_name) :
Gary Servin 0:04ac6be8229a 51 pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
Gary Servin 0:04ac6be8229a 52 {
Gary Servin 0:04ac6be8229a 53 this->topic_ = topic_name;
Gary Servin 0:04ac6be8229a 54 this->waiting = true;
Gary Servin 0:04ac6be8229a 55 }
Gary Servin 0:04ac6be8229a 56
Gary Servin 0:04ac6be8229a 57 virtual void call(const MReq & request, MRes & response)
Gary Servin 0:04ac6be8229a 58 {
Gary Servin 0:04ac6be8229a 59 if (!pub.nh_->connected()) return;
Gary Servin 0:04ac6be8229a 60 ret = &response;
Gary Servin 0:04ac6be8229a 61 waiting = true;
Gary Servin 0:04ac6be8229a 62 pub.publish(&request);
Gary Servin 0:04ac6be8229a 63 while (waiting && pub.nh_->connected())
Gary Servin 0:04ac6be8229a 64 if (pub.nh_->spinOnce() < 0) break;
Gary Servin 0:04ac6be8229a 65 }
Gary Servin 0:04ac6be8229a 66
Gary Servin 0:04ac6be8229a 67 // these refer to the subscriber
Gary Servin 0:04ac6be8229a 68 virtual void callback(unsigned char *data)
Gary Servin 0:04ac6be8229a 69 {
Gary Servin 0:04ac6be8229a 70 ret->deserialize(data);
Gary Servin 0:04ac6be8229a 71 waiting = false;
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 virtual const char * getMsgType()
Gary Servin 0:04ac6be8229a 74 {
Gary Servin 0:04ac6be8229a 75 return this->resp.getType();
Gary Servin 0:04ac6be8229a 76 }
Gary Servin 0:04ac6be8229a 77 virtual const char * getMsgMD5()
Gary Servin 0:04ac6be8229a 78 {
Gary Servin 0:04ac6be8229a 79 return this->resp.getMD5();
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81 virtual int getEndpointType()
Gary Servin 0:04ac6be8229a 82 {
Gary Servin 0:04ac6be8229a 83 return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 MReq req;
Gary Servin 0:04ac6be8229a 87 MRes resp;
Gary Servin 0:04ac6be8229a 88 MRes * ret;
Gary Servin 0:04ac6be8229a 89 bool waiting;
Gary Servin 0:04ac6be8229a 90 Publisher pub;
Gary Servin 0:04ac6be8229a 91 };
Gary Servin 0:04ac6be8229a 92
Gary Servin 0:04ac6be8229a 93 }
Gary Servin 0:04ac6be8229a 94
Gary Servin 0:04ac6be8229a 95 #endif