service.h

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/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSCPP_SERVICE_H
#define ROSCPP_SERVICE_H

#include <string>
#include "ros/common.h"
#include "ros/message.h"
#include "ros/forwards.h"
#include "ros/node_handle.h"
#include "ros/service_traits.h"
#include "ros/names.h"

#include <boost/shared_ptr.hpp>

namespace ros
{

class ServiceServerLink;
typedef boost::shared_ptr<ServiceServerLink> ServiceServerLinkPtr;

namespace service
{

template<class MReq, class MRes>
bool call(const std::string& service_name, MReq& req, MRes& res)
{
  namespace st = service_traits;
  NodeHandle nh;
  ServiceClientOptions ops(ros::names::resolve(service_name), st::md5sum(req), false, M_string());
  ServiceClient client = nh.serviceClient(ops);
  return client.call(req, res);
}

template<class Service>
bool call(const std::string& service_name, Service& service)
{
  namespace st = service_traits;

  NodeHandle nh;
  ServiceClientOptions ops(ros::names::resolve(service_name), st::md5sum(service), false, M_string());
  ServiceClient client = nh.serviceClient(ops);
  return client.call(service.request, service.response);
}

ROSCPP_DECL bool waitForService(const std::string& service_name, int32_t timeout);

ROSCPP_DECL bool waitForService(const std::string& service_name, ros::Duration timeout = ros::Duration(-1));

ROSCPP_DECL bool exists(const std::string& service_name, bool print_failure_reason);

template<class MReq, class MRes>
ServiceClient createClient(const std::string& service_name, bool persistent = false, const M_string& header_values = M_string())
{
  NodeHandle nh;
  ServiceClient client = nh.template serviceClient<MReq, MRes>(ros::names::resolve(service_name), persistent, header_values);
  return client;
}

template<class Service>
ServiceClient createClient(const std::string& service_name, bool persistent = false, const M_string& header_values = M_string())
{
  NodeHandle nh;
  ServiceClient client = nh.template serviceClient<Service>(ros::names::resolve(service_name), persistent, header_values);
  return client;
}

}

}

#endif // ROSCPP_SERVICE_H