service_client.h

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#ifndef _ROS_SERVICE_CLIENT_H_
#define _ROS_SERVICE_CLIENT_H_
 
#include "rosserial_msgs/TopicInfo.h"
 
#include "ros/publisher.h"
#include "ros/subscriber.h"
 
namespace ros
{
 
template<typename MReq , typename MRes>
class ServiceClient : public Subscriber_
{
public:
  ServiceClient(const char* topic_name) :
    pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
  {
    this->topic_ = topic_name;
    this->waiting = true;
  }
 
  virtual void call(const MReq & request, MRes & response) override
  {
    if (!pub.nh_->connected()) return;
    ret = &response;
    waiting = true;
    pub.publish(&request);
    while (waiting && pub.nh_->connected())
      if (pub.nh_->spinOnce() < 0) break;
  }
 
  // these refer to the subscriber
  virtual void callback(unsigned char *data) override
  {
    ret->deserialize(data);
    waiting = false;
  }
  virtual const char * getMsgType() override
  {
    return this->resp.getType();
  }
  virtual const char * getMsgMD5() override
  {
    return this->resp.getMD5();
  }
  virtual int getEndpointType() override
  {
    return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
  }
 
  MReq req;
  MRes resp;
  MRes * ret;
  bool waiting;
  Publisher pub;
};
 
}
 
#endif