Prolog.java

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/* 
 * Copyright (c) 2010, Moritz Tenorth
 * All rights reserved.
 * 
 * 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 name of 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

package edu.tum.cs.ias.knowrob.json_prolog;

import ros.NodeHandle;
import ros.Ros;
import ros.ServiceClient;

import ros.pkg.json_prolog.srv.PrologQuery;
import ros.pkg.json_prolog.srv.PrologFinish;
import ros.pkg.json_prolog.srv.PrologNextSolution;


public class Prolog {

        private static Ros ros;
        private static NodeHandle n;
        
        protected static void initRos() {

        ros = Ros.getInstance();

                if(!Ros.getInstance().isInitialized()) {
                ros.init("json_prolog_java_client");
                }
                n = ros.createNodeHandle();

        }
        
        public ServiceClient<PrologQuery.Request, PrologQuery.Response, PrologQuery> prolog_query;
        public ServiceClient<PrologNextSolution.Request, PrologNextSolution.Response, PrologNextSolution> next_solution;
        public ServiceClient<PrologFinish.Request, PrologFinish.Response, PrologFinish> prolog_finish;

        
        
        public Prolog(String ns) {
                
                initRos();
                prolog_query = n.serviceClient(ns + "/simple_query", new PrologQuery());
                next_solution = n.serviceClient(ns + "/next_solution", new PrologNextSolution());
                prolog_finish = n.serviceClient(ns + "/finish", new PrologFinish());                            
        }
        public Prolog() {
                this("/json_prolog");
        }
        
        public PrologQueryProxy query(String query_str) {
                return new PrologQueryProxy(this, query_str);
        }
        
        public PrologBindings once(String query_str) {
                
                PrologQueryProxy query = new PrologQueryProxy(this, query_str);
                PrologBindings result = query.iterator().next();
                query.finish();
                return result;
        }
         

        
}