service_client.h

00001 /*
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00034 
00035 #ifndef _ROS_SERVICE_CLIENT_H_
00036 #define _ROS_SERVICE_CLIENT_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 
00040 #include "ros/publisher.h"
00041 #include "ros/subscriber.h"
00042 
00043 namespace ros
00044 {
00045 
00046 template<typename MReq , typename MRes>
00047 class ServiceClient : public Subscriber_
00048 {
00049 public:
00050   ServiceClient(const char* topic_name) :
00051     pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
00052   {
00053     this->topic_ = topic_name;
00054     this->waiting = true;
00055   }
00056 
00057   virtual void call(const MReq & request, MRes & response)
00058   {
00059     if (!pub.nh_->connected()) return;
00060     ret = &response;
00061     waiting = true;
00062     pub.publish(&request);
00063     while (waiting && pub.nh_->connected())
00064       if (pub.nh_->spinOnce() < 0) break;
00065   }
00066 
00067   // these refer to the subscriber
00068   virtual void callback(unsigned char *data)
00069   {
00070     ret->deserialize(data);
00071     waiting = false;
00072   }
00073   virtual const char * getMsgType()
00074   {
00075     return this->resp.getType();
00076   }
00077   virtual const char * getMsgMD5()
00078   {
00079     return this->resp.getMD5();
00080   }
00081   virtual int getEndpointType()
00082   {
00083     return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
00084   }
00085 
00086   MReq req;
00087   MRes resp;
00088   MRes * ret;
00089   bool waiting;
00090   Publisher pub;
00091 };
00092 
00093 }
00094 
00095 #endif