call_handle.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_RPC_CALL_HANDLE_H
#define RVIZ_RPC_CALL_HANDLE_H

#include "exceptions.h"
#include "request_wrapper.h"
#include "response_wrapper.h"

#include <rve_common/uuid.h>

#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>

#include <ros/message_event.h>

namespace rve_rpc
{

typedef boost::function<void(const ResponseWrapperConstPtr&)> RespondFn;

template<typename Req, typename Res>
class CallHandle
{
public:
  typedef boost::shared_ptr<Req> ReqPtr;
  typedef boost::shared_ptr<Req const> ReqConstPtr;
  typedef ros::MessageEvent<Req const> ReqEvent;
  typedef boost::shared_ptr<Res> ResPtr;
  typedef boost::shared_ptr<Res const> ResConstPtr;

  CallHandle()
  {}

  CallHandle(const rve_common::UUID& id, const ReqEvent& evt, const RespondFn& respond_fn)
  : data_(new Data)
  {
    data_->id = id;
    data_->request_event = evt;
    data_->respond_fn = respond_fn;
    data_->responded = false;
  }

  ReqConstPtr getRequest() const { return data_->request_event.getMessage(); }
  const ReqEvent& getRequestEvent() const { return data_->request_event; }

  void respond(const ResConstPtr& res_msg) const
  {
    ROS_ASSERT(!data_->responded);
    ResponseWrapperPtr res = makeResponse(res_msg);
    res->request_id = data_->id;
    data_->respond_fn(res);
    data_->responded = true;
  }

  void except(const std::string& exception_msg)
  {
    ROS_ASSERT(!data_->responded);
    ResponseWrapperPtr res = makeResponse<Res>().first;
    res->request_id = data_->id;
    res->error_code = Response::EXCEPTION;
    res->error_string = exception_msg;
    data_->respond_fn(res);
    data_->responded = true;
  }

  operator void*() const { return data_ ? (void*)1 : (void*)0; }

  bool operator<(const CallHandle<Req, Res>& rhs) const
  {
    return data_ < rhs.data_;
  }

  bool operator==(const CallHandle<Req, Res>& rhs) const
  {
    return data_ == rhs.data_;
  }

  bool operator!=(const CallHandle<Req, Res>& rhs) const
  {
    return data_ != rhs.data_;
  }

private:
  struct Data
  {
    ~Data()
    {
      if (!responded)
      {
        ResponseWrapperPtr res = makeResponse<Res>().first;
        res->request_id = id;
        res->error_code = Response::EXCEPTION;
        res->error_string = "Callee did not respond to the request (handle.respond() or handle.except() never called)";
        respond_fn(res);
      }
    }

    rve_common::UUID id;
    ReqEvent request_event;
    RespondFn respond_fn;
    bool responded;
  };
  boost::shared_ptr<Data> data_;
};

} // namespace rve_rpc

#endif // RVIZ_RPC_CALL_HANDLE_H