service.h
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00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and 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_H
00029 #define ROSCPP_SERVICE_H
00030 
00031 #include <string>
00032 #include "ros/common.h"
00033 #include "ros/message.h"
00034 #include "ros/forwards.h"
00035 #include "ros/node_handle.h"
00036 #include "ros/service_traits.h"
00037 #include "ros/names.h"
00038 
00039 #include <boost/shared_ptr.hpp>
00040 
00041 namespace ros
00042 {
00043 
00044 class ServiceServerLink;
00045 typedef boost::shared_ptr<ServiceServerLink> ServiceServerLinkPtr;
00046 
00050 namespace service
00051 {
00052 
00064 template<class MReq, class MRes>
00065 bool call(const std::string& service_name, MReq& req, MRes& res)
00066 {
00067   namespace st = service_traits;
00068   NodeHandle nh;
00069   ServiceClientOptions ops(ros::names::resolve(service_name), st::md5sum(req), false, M_string());
00070   ServiceClient client = nh.serviceClient(ops);
00071   return client.call(req, res);
00072 }
00073 
00084 template<class Service>
00085 bool call(const std::string& service_name, Service& service)
00086 {
00087   namespace st = service_traits;
00088 
00089   NodeHandle nh;
00090   ServiceClientOptions ops(ros::names::resolve(service_name), st::md5sum(service), false, M_string());
00091   ServiceClient client = nh.serviceClient(ops);
00092   return client.call(service.request, service.response);
00093 }
00094 
00102 ROSCPP_DECL bool waitForService(const std::string& service_name, int32_t timeout);
00103 
00111 ROSCPP_DECL bool waitForService(const std::string& service_name, ros::Duration timeout = ros::Duration(-1));
00112 
00120 ROSCPP_DECL bool exists(const std::string& service_name, bool print_failure_reason);
00121 
00132 template<class MReq, class MRes>
00133 ServiceClient createClient(const std::string& service_name, bool persistent = false, const M_string& header_values = M_string())
00134 {
00135   NodeHandle nh;
00136   ServiceClient client = nh.template serviceClient<MReq, MRes>(ros::names::resolve(service_name), persistent, header_values);
00137   return client;
00138 }
00139 
00150 template<class Service>
00151 ServiceClient createClient(const std::string& service_name, bool persistent = false, const M_string& header_values = M_string())
00152 {
00153   NodeHandle nh;
00154   ServiceClient client = nh.template serviceClient<Service>(ros::names::resolve(service_name), persistent, header_values);
00155   return client;
00156 }
00157 
00158 }
00159 
00160 }
00161 
00162 #endif // ROSCPP_SERVICE_H
00163 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03