service.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef SERVICE_HPP
#define SERVICE_HPP
 
#include <string>
 
#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>
 
#include <ros/ros.h>
 
namespace naoqi
{
namespace service
{
 
 
class Service
{
 
public:
 
  template<typename T>
  Service( T srv ):
    srvPtr_( boost::make_shared<ServiceModel<T> >(srv) )
  {}
 
  void reset( ros::NodeHandle& nh )
  {
    std::cout << name() << " is resetting" << std::endl;
    srvPtr_->reset( nh );
    std::cout << name() << " reset" << std::endl;
  }
 
  std::string name() const
  {
    return srvPtr_->name();
  }
 
  std::string topic() const
  {
    return srvPtr_->topic();
  }
 
private:
 
  struct ServiceConcept
  {
    virtual ~ServiceConcept(){}
    virtual void reset( ros::NodeHandle& nh ) = 0;
    virtual std::string name() const = 0;
    virtual std::string topic() const = 0;
  };
 
 
  template<typename T>
  struct ServiceModel : public ServiceConcept
  {
    ServiceModel( const T& other ):
      service_( other )
    {}
 
    std::string name() const
    {
      return service_->name();
    }
 
    std::string topic() const
    {
      return service_->topic();
    }
 
    bool isInitialized() const
    {
      return service_->isInitialized();
    }
 
    void reset( ros::NodeHandle& nh )
    {
      service_->reset( nh );
    }
 
    T service_;
  };
 
  boost::shared_ptr<ServiceConcept> srvPtr_;
 
}; // class service
 
} //service
} //naoqi
 
#endif