service_client_imp.h
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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;
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00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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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


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Aug 28 2015 10:04:41