actionlib: actionlib: service_client.h Source File

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
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00013 *     notice, this list of conditions and the following disclaimer.
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 *     from this software without specific prior written permission.
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00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_CLIENT_SERVICE_CLIENT_H_
00038 #define ACTIONLIB_CLIENT_SERVICE_CLIENT_H_
00039 #include <actionlib/action_definition.h>
00040 #include <actionlib/client/simple_action_client.h>
00041 
00042 namespace actionlib {
00043   class ServiceClientImp {
00044     public:
00045       ServiceClientImp(){}
00046       virtual bool call(const void* goal, std::string goal_md5sum, void* result, std::string result_md5sum) = 0;
00047       virtual bool waitForServer(const ros::Duration& timeout) = 0;
00048       virtual bool isServerConnected() = 0;
00049       virtual ~ServiceClientImp(){}
00050   };
00051 
00052   class ServiceClient {
00053     public:
00054       ServiceClient(boost::shared_ptr<ServiceClientImp> client) : client_(client) {}
00055 
00056       template <class Goal, class Result>
00057       bool call(const Goal& goal, Result& result);
00058 
00059       bool waitForServer(const ros::Duration& timeout = ros::Duration(0,0));
00060       bool isServerConnected();
00061 
00062     private:
00063       boost::shared_ptr<ServiceClientImp> client_;
00064   };
00065 
00066   template <class ActionSpec>
00067   ServiceClient serviceClient(ros::NodeHandle n, std::string name);
00068 
00069   template <class ActionSpec>
00070   class ServiceClientImpT : public ServiceClientImp
00071   {
00072     public:
00073       ACTION_DEFINITION(ActionSpec);
00074       typedef ClientGoalHandle<ActionSpec> GoalHandleT;
00075       typedef SimpleActionClient<ActionSpec> SimpleActionClientT;
00076 
00077       ServiceClientImpT(ros::NodeHandle n, std::string name);
00078 
00079       bool call(const void* goal, std::string goal_md5sum, void* result, std::string result_md5sum);
00080       bool waitForServer(const ros::Duration& timeout);
00081       bool isServerConnected();
00082 
00083     private:
00084       boost::scoped_ptr<SimpleActionClientT> ac_;
00085       
00086   };
00087 };
00088 
00089 //include the implementation
00090 #include <actionlib/client/service_client_imp.h>
00091 #endif