$search
00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTIONLIB_CLIENT_SERVICE_CLIENT_IMP_H_ 00038 #define ACTIONLIB_CLIENT_SERVICE_CLIENT_IMP_H_ 00039 namespace actionlib { 00040 template <class ActionSpec> 00041 ServiceClientImpT<ActionSpec>::ServiceClientImpT(ros::NodeHandle n, std::string name){ 00042 ac_.reset(new SimpleActionClientT(n, name, true)); 00043 } 00044 00045 template <class ActionSpec> 00046 bool ServiceClientImpT<ActionSpec>::waitForServer(const ros::Duration& timeout){ 00047 return ac_->waitForServer(timeout); 00048 } 00049 00050 template <class ActionSpec> 00051 bool ServiceClientImpT<ActionSpec>::isServerConnected(){ 00052 return ac_->isServerConnected(); 00053 } 00054 00055 template <class ActionSpec> 00056 bool ServiceClientImpT<ActionSpec>::call(const void* goal, std::string goal_md5sum, 00057 void* result, std::string result_md5sum) 00058 { 00059 //ok... we need to static cast the goal message and result message 00060 const Goal* goal_c = static_cast<const Goal*>(goal); 00061 Result* result_c = static_cast<Result*>(result); 00062 00063 //now we need to check that the md5sums are correct 00064 namespace mt = ros::message_traits; 00065 00066 if(strcmp(mt::md5sum(*goal_c), goal_md5sum.c_str()) || strcmp(mt::md5sum(*result_c), result_md5sum.c_str())) 00067 { 00068 ROS_ERROR_NAMED("actionlib", "Incorrect md5Sums for goal and result types"); 00069 return false; 00070 } 00071 00072 if(!ac_->isServerConnected()){ 00073 ROS_ERROR_NAMED("actionlib", "Attempting to make a service call when the server isn't actually connected to the client."); 00074 return false; 00075 } 00076 00077 ac_->sendGoalAndWait(*goal_c); 00078 if(ac_->getState() == SimpleClientGoalState::SUCCEEDED){ 00079 (*result_c) = *(ac_->getResult()); 00080 return true; 00081 } 00082 00083 return false; 00084 } 00085 00086 //****** ServiceClient ******************* 00087 template <class Goal, class Result> 00088 bool ServiceClient::call(const Goal& goal, Result& result){ 00089 namespace mt = ros::message_traits; 00090 return client_->call(&goal, mt::md5sum(goal), &result, mt::md5sum(result)); 00091 } 00092 00093 bool ServiceClient::waitForServer(const ros::Duration& timeout){ 00094 return client_->waitForServer(timeout); 00095 } 00096 00097 bool ServiceClient::isServerConnected(){ 00098 return client_->isServerConnected(); 00099 } 00100 00101 //****** actionlib::serviceClient ******************* 00102 template <class ActionSpec> 00103 ServiceClient serviceClient(ros::NodeHandle n, std::string name){ 00104 boost::shared_ptr<ServiceClientImp> client_ptr(new ServiceClientImpT<ActionSpec>(n, name)); 00105 return ServiceClient(client_ptr); 00106 } 00107 00108 }; 00109 #endif