service_client.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
#define ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
 
#include <actionlib/action_definition.h>
#include <actionlib/client/simple_action_client.h>
 
#include <string>
 
namespace actionlib
{
 
class ServiceClientImp
{
public:
  ServiceClientImp() {}
  virtual bool call(const void * goal, std::string goal_md5sum, void * result,
    std::string result_md5sum) = 0;
  virtual bool waitForServer(const ros::Duration & timeout) = 0;
  virtual bool isServerConnected() = 0;
  virtual ~ServiceClientImp() {}
};
 
class ServiceClient
{
public:
  ServiceClient(boost::shared_ptr<ServiceClientImp> client)
  : client_(client) {}
 
  template<class Goal, class Result>
  bool call(const Goal & goal, Result & result);
 
  bool waitForServer(const ros::Duration & timeout = ros::Duration(0, 0));
  bool isServerConnected();
 
private:
  boost::shared_ptr<ServiceClientImp> client_;
};
 
template<class ActionSpec>
ServiceClient serviceClient(ros::NodeHandle n, std::string name);
 
template<class ActionSpec>
class ServiceClientImpT : public ServiceClientImp
{
public:
  ACTION_DEFINITION(ActionSpec)
  typedef ClientGoalHandle<ActionSpec> GoalHandleT;
  typedef SimpleActionClient<ActionSpec> SimpleActionClientT;
 
  ServiceClientImpT(ros::NodeHandle n, std::string name);
 
  bool call(const void * goal, std::string goal_md5sum, void * result, std::string result_md5sum);
  bool waitForServer(const ros::Duration & timeout);
  bool isServerConnected();
 
private:
  boost::scoped_ptr<SimpleActionClientT> ac_;
};
}  // namespace actionlib
 
// include the implementation
#include <actionlib/client/service_client_imp.h>
#endif  // ACTIONLIB__CLIENT__SERVICE_CLIENT_H_