service_client.h
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34 
35 #ifndef _ROS_SERVICE_CLIENT_H_
36 #define _ROS_SERVICE_CLIENT_H_
37 
38 #include "rosserial_msgs/TopicInfo.h"
39 
40 #include "ros/publisher.h"
41 #include "ros/subscriber.h"
42 
43 namespace ros
44 {
45 
46 template<typename MReq , typename MRes>
47 class ServiceClient : public Subscriber_
48 {
49 public:
50  ServiceClient(const char* topic_name) :
51  pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
52  {
53  this->topic_ = topic_name;
54  this->waiting = true;
55  }
56 
57  virtual void call(const MReq & request, MRes & response)
58  {
59  if (!pub.nh_->connected()) return;
60  ret = &response;
61  waiting = true;
62  pub.publish(&request);
63  while (waiting && pub.nh_->connected())
64  if (pub.nh_->spinOnce() < 0) break;
65  }
66 
67  // these refer to the subscriber
68  virtual void callback(unsigned char *data)
69  {
70  ret->deserialize(data);
71  waiting = false;
72  }
73  virtual const char * getMsgType()
74  {
75  return this->resp.getType();
76  }
77  virtual const char * getMsgMD5()
78  {
79  return this->resp.getMD5();
80  }
81  virtual int getEndpointType()
82  {
83  return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
84  }
85 
86  MReq req;
87  MRes resp;
88  MRes * ret;
89  bool waiting;
90  Publisher pub;
91 };
92 
93 }
94 
95 #endif
void publish(const boost::shared_ptr< M > &message) const
bool call(MReq &req, MRes &res)
virtual bool connected()=0
virtual int spinOnce()=0
const char * topic_
Definition: subscriber.h:55


rosserial_client
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Fri Jun 7 2019 22:02:43