00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_SERVICE_CLIENT_OPTIONS_H 00029 #define ROSCPP_SERVICE_CLIENT_OPTIONS_H 00030 00031 #include "ros/forwards.h" 00032 #include "common.h" 00033 #include "ros/service_traits.h" 00034 00035 namespace ros 00036 { 00037 00041 struct ROSCPP_DECL ServiceClientOptions 00042 { 00043 ServiceClientOptions() 00044 : persistent(false) 00045 { 00046 } 00047 00048 /* 00049 * \brief Constructor 00050 * \param _service Name of the service to connect to 00051 * \param _md5sum md5sum of the service 00052 * \param _persistent Whether or not to keep the connection open to the service for future calls 00053 * \param _header Any extra values to be passed along in the connection header 00054 */ 00055 ServiceClientOptions(const std::string& _service, const std::string& _md5sum, bool _persistent, const M_string& _header) 00056 : service(_service) 00057 , md5sum(_md5sum) 00058 , persistent(_persistent) 00059 , header(_header) 00060 { 00061 } 00062 00063 /* 00064 * \brief Templated helper method, preventing you from needing to manually get the service md5sum 00065 * \param MReq [template] Request message type 00066 * \param MRes [template] Response message type 00067 * \param _service Name of the service to connect to 00068 * \param _persistent Whether or not to keep the connection open to the service for future calls 00069 * \param _header Any extra values to be passed along in the connection header 00070 */ 00071 template <class MReq, class MRes> 00072 void init(const std::string& _service, bool _persistent, const M_string& _header) 00073 { 00074 namespace st = service_traits; 00075 00076 service = _service; 00077 md5sum = st::md5sum<MReq>(); 00078 persistent = _persistent; 00079 header = _header; 00080 } 00081 00082 /* 00083 * \brief Templated helper method, preventing you from needing to manually get the service md5sum 00084 * \param Service [template] Service type 00085 * \param _service Name of the service to connect to 00086 * \param _persistent Whether or not to keep the connection open to the service for future calls 00087 * \param _header Any extra values to be passed along in the connection header 00088 */ 00089 template <class Service> 00090 void init(const std::string& _service, bool _persistent, const M_string& _header) 00091 { 00092 namespace st = service_traits; 00093 00094 service = _service; 00095 md5sum = st::md5sum<Service>(); 00096 persistent = _persistent; 00097 header = _header; 00098 } 00099 00100 std::string service; 00101 std::string md5sum; 00102 bool persistent; 00103 M_string header; 00104 }; 00105 00106 00107 } 00108 00109 #endif