CallGUI.cpp
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00001 #include "CallGUI.h"
00002 
00003 #include <boost/foreach.hpp>
00004 #include <ros/ros.h>
00005 
00006 #include <stdexcept>
00007 
00008 using namespace std;
00009 
00010 namespace bwi_krexec {
00011   
00012 CallGUI::CallGUI ( const std::string &name, const TYPE type,  const std::string& message,
00013                    float timeOut,
00014                    const std::vector<std::string> &options ) :
00015   name ( name ),
00016   type ( type ),
00017   message ( message ),
00018   timeOut ( timeOut ),
00019   options ( options ),
00020   done ( false ) {}
00021  
00022 
00023 void CallGUI::run() {
00024 
00025 
00026   ros::NodeHandle n;
00027   ros::ServiceClient client = n.serviceClient<bwi_msgs::QuestionDialog> ( "question_dialog" );
00028   /* std::cout << "running call gui" << std::endl; */
00029   client.waitForExistence();
00030 
00031   req.request.type = type;
00032   req.request.message = message;
00033   req.request.options = options;
00034   req.request.timeout = timeOut;
00035 
00036   client.waitForExistence();
00037 
00038   // std::cout << "making request - " << message  << std::endl << "  with options: ";
00039   // BOOST_FOREACH(const std::string& option, options) {
00040   //   std::cout << option << "  ";
00041   // }
00042   // std::cout << std::endl;
00043   client.call ( req );
00044 
00045   done = true;
00046 
00047 }
00048 
00049 string CallGUI::getResponse() {
00050   if ((done) && (req.response.index == bwi_msgs::QuestionDialogRequest::TEXT_RESPONSE)) {
00051     return req.response.text;
00052   }
00053   else {
00054     return "";
00055   }
00056 }
00057 
00058 int CallGUI::getResponseIndex() {
00059   if (done) {
00060     return req.response.index;
00061   }
00062   else {
00063     return bwi_msgs::QuestionDialogRequest::NO_RESPONSE;
00064   }
00065 }
00066 
00067 actasp::Action *CallGUI::cloneAndInit(const actasp::AspFluent & fluent) const {
00068   throw runtime_error("CallGUI: initilization from fluent not supported");
00069 } 
00070   
00071 }


bwi_kr_execution
Author(s): Matteo Leonetti, Piyush Khandelwal
autogenerated on Thu Jun 6 2019 17:57:36