service_client.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_CLIENT_SERVICE_CLIENT_H_
00038 #define ACTIONLIB_CLIENT_SERVICE_CLIENT_H_
00039 #include <actionlib/action_definition.h>
00040 #include <actionlib/client/simple_action_client.h>
00041 
00042 namespace actionlib {
00043   class ServiceClientImp {
00044     public:
00045       ServiceClientImp(){}
00046       virtual bool call(const void* goal, std::string goal_md5sum, void* result, std::string result_md5sum) = 0;
00047       virtual bool waitForServer(const ros::Duration& timeout) = 0;
00048       virtual bool isServerConnected() = 0;
00049       virtual ~ServiceClientImp(){}
00050   };
00051 
00052   class ServiceClient {
00053     public:
00054       ServiceClient(boost::shared_ptr<ServiceClientImp> client) : client_(client) {}
00055 
00056       template <class Goal, class Result>
00057       bool call(const Goal& goal, Result& result);
00058 
00059       bool waitForServer(const ros::Duration& timeout = ros::Duration(0,0));
00060       bool isServerConnected();
00061 
00062     private:
00063       boost::shared_ptr<ServiceClientImp> client_;
00064   };
00065 
00066   template <class ActionSpec>
00067   ServiceClient serviceClient(ros::NodeHandle n, std::string name);
00068 
00069   template <class ActionSpec>
00070   class ServiceClientImpT : public ServiceClientImp
00071   {
00072     public:
00073       ACTION_DEFINITION(ActionSpec);
00074       typedef ClientGoalHandle<ActionSpec> GoalHandleT;
00075       typedef SimpleActionClient<ActionSpec> SimpleActionClientT;
00076 
00077       ServiceClientImpT(ros::NodeHandle n, std::string name);
00078 
00079       bool call(const void* goal, std::string goal_md5sum, void* result, std::string result_md5sum);
00080       bool waitForServer(const ros::Duration& timeout);
00081       bool isServerConnected();
00082 
00083     private:
00084       boost::scoped_ptr<SimpleActionClientT> ac_;
00085       
00086   };
00087 };
00088 
00089 //include the implementation
00090 #include <actionlib/client/service_client_imp.h>
00091 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49