roscpp: service_client_options.h Source File

00001 /*
00002  * Copyright (C) 2009, 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_CLIENT_OPTIONS_H
00029 #define ROSCPP_SERVICE_CLIENT_OPTIONS_H
00030 
00031 #include "ros/forwards.h"
00032 #include "ros/service_traits.h"
00033 
00034 namespace ros
00035 {
00036 
00040 struct ServiceClientOptions
00041 {
00042   ServiceClientOptions()
00043   {
00044   }
00045 
00046   /*
00047    * \brief Constructor
00048    * \param _service Name of the service to connect to
00049    * \param _md5sum md5sum of the service
00050    * \param _persistent Whether or not to keep the connection open to the service for future calls
00051    * \param _header Any extra values to be passed along in the connection header
00052    */
00053   ServiceClientOptions(const std::string& _service, const std::string& _md5sum, bool _persistent, const M_string& _header)
00054   : service(_service)
00055   , md5sum(_md5sum)
00056   , persistent(_persistent)
00057   , header(_header)
00058   {
00059   }
00060 
00061   /*
00062    * \brief Templated helper method, preventing you from needing to manually get the service md5sum
00063    * \param MReq [template] Request message type
00064    * \param MRes [template] Response message type
00065    * \param _service Name of the service to connect to
00066    * \param _persistent Whether or not to keep the connection open to the service for future calls
00067    * \param _header Any extra values to be passed along in the connection header
00068    */
00069   template <class MReq, class MRes>
00070   void init(const std::string& _service, bool _persistent, const M_string& _header)
00071   {
00072     namespace st = service_traits;
00073 
00074     service = _service;
00075     md5sum = st::md5sum<MReq>();
00076     persistent = _persistent;
00077     header = _header;
00078   }
00079 
00080   /*
00081    * \brief Templated helper method, preventing you from needing to manually get the service md5sum
00082    * \param Service [template] Service type
00083    * \param _service Name of the service to connect to
00084    * \param _persistent Whether or not to keep the connection open to the service for future calls
00085    * \param _header Any extra values to be passed along in the connection header
00086    */
00087   template <class Service>
00088   void init(const std::string& _service, bool _persistent, const M_string& _header)
00089   {
00090     namespace st = service_traits;
00091 
00092     service = _service;
00093     md5sum = st::md5sum<Service>();
00094     persistent = _persistent;
00095     header = _header;
00096   }
00097 
00098   std::string service;                                                      
00099   std::string md5sum;                                                       
00100   bool persistent;                                                          
00101   M_string header;                                                          
00102 };
00103 
00104 
00105 }
00106 
00107 #endif