rosserial_arduino: service_client.h Source File

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00034 
00035 #ifndef _ROS_SERVICE_CLIENT_H_
00036 #define _ROS_SERVICE_CLIENT_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 
00040 #include "publisher.h"
00041 #include "subscriber.h"
00042 
00043 namespace ros {
00044 
00045   template<typename MReq , typename MRes>
00046   class ServiceClient : public Subscriber_  {
00047     public:
00048       ServiceClient(const char* topic_name) : 
00049         pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
00050       {
00051         this->topic_ = topic_name;
00052         this->waiting = true;
00053       }
00054 
00055       virtual void call(const MReq & request, MRes & response)
00056       {
00057         if(!pub.nh_->connected()) return;
00058         ret = &response;
00059         waiting = true;
00060         pub.publish(&request);
00061         while(waiting && pub.nh_->connected())
00062           if(pub.nh_->spinOnce() < 0) break;
00063       }
00064 
00065       // these refer to the subscriber
00066       virtual void callback(unsigned char *data){
00067         ret->deserialize(data);
00068         waiting = false;
00069       }
00070       virtual const char * getMsgType(){ return this->resp.getType(); }
00071       virtual const char * getMsgMD5(){ return this->resp.getMD5(); }
00072       virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
00073 
00074       MReq req;
00075       MRes resp;
00076       MRes * ret;
00077       bool waiting;
00078       Publisher pub;
00079   };
00080 
00081 }
00082 
00083 #endif