CallGUI.cpp

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#include "CallGUI.h"

#include <boost/foreach.hpp>
#include <ros/ros.h>

#include <stdexcept>

using namespace std;

namespace bwi_krexec {
  
CallGUI::CallGUI ( const std::string &name, const TYPE type,  const std::string& message,
                   float timeOut,
                   const std::vector<std::string> &options ) :
  name ( name ),
  type ( type ),
  message ( message ),
  timeOut ( timeOut ),
  options ( options ),
  done ( false ) {}
 

void CallGUI::run() {


  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<bwi_msgs::QuestionDialog> ( "question_dialog" );
  /* std::cout << "running call gui" << std::endl; */
  client.waitForExistence();

  req.request.type = type;
  req.request.message = message;
  req.request.options = options;
  req.request.timeout = timeOut;

  client.waitForExistence();

  // std::cout << "making request - " << message  << std::endl << "  with options: ";
  // BOOST_FOREACH(const std::string& option, options) {
  //   std::cout << option << "  ";
  // }
  // std::cout << std::endl;
  client.call ( req );

  done = true;

}

string CallGUI::getResponse() {
  if ((done) && (req.response.index == bwi_msgs::QuestionDialogRequest::TEXT_RESPONSE)) {
    return req.response.text;
  }
  else {
    return "";
  }
}

int CallGUI::getResponseIndex() {
  if (done) {
    return req.response.index;
  }
  else {
    return bwi_msgs::QuestionDialogRequest::NO_RESPONSE;
  }
}

actasp::Action *CallGUI::cloneAndInit(const actasp::AspFluent & fluent) const {
  throw runtime_error("CallGUI: initilization from fluent not supported");
} 
  
}