nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
ros/service_client.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | /* |
| nucho | 3:1cf99502f396 | 2 | * Software License Agreement (BSD License) |
| nucho | 3:1cf99502f396 | 3 | * |
| nucho | 3:1cf99502f396 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
| nucho | 3:1cf99502f396 | 5 | * All rights reserved. |
| nucho | 3:1cf99502f396 | 6 | * |
| nucho | 3:1cf99502f396 | 7 | * Redistribution and use in source and binary forms, with or without |
| nucho | 3:1cf99502f396 | 8 | * modification, are permitted provided that the following conditions |
| nucho | 3:1cf99502f396 | 9 | * are met: |
| nucho | 3:1cf99502f396 | 10 | * |
| nucho | 3:1cf99502f396 | 11 | * * Redistributions of source code must retain the above copyright |
| nucho | 3:1cf99502f396 | 12 | * notice, this list of conditions and the following disclaimer. |
| nucho | 3:1cf99502f396 | 13 | * * Redistributions in binary form must reproduce the above |
| nucho | 3:1cf99502f396 | 14 | * copyright notice, this list of conditions and the following |
| nucho | 3:1cf99502f396 | 15 | * disclaimer in the documentation and/or other materials provided |
| nucho | 3:1cf99502f396 | 16 | * with the distribution. |
| nucho | 3:1cf99502f396 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
| nucho | 3:1cf99502f396 | 18 | * contributors may be used to endorse or promote prducts derived |
| nucho | 3:1cf99502f396 | 19 | * from this software without specific prior written permission. |
| nucho | 3:1cf99502f396 | 20 | * |
| nucho | 3:1cf99502f396 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| nucho | 3:1cf99502f396 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| nucho | 3:1cf99502f396 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| nucho | 3:1cf99502f396 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| nucho | 3:1cf99502f396 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| nucho | 3:1cf99502f396 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| nucho | 3:1cf99502f396 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| nucho | 3:1cf99502f396 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| nucho | 3:1cf99502f396 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| nucho | 3:1cf99502f396 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| nucho | 3:1cf99502f396 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| nucho | 3:1cf99502f396 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
| nucho | 3:1cf99502f396 | 33 | */ |
| nucho | 3:1cf99502f396 | 34 | |
| nucho | 3:1cf99502f396 | 35 | #ifndef _ROS_SERVICE_CLIENT_H_ |
| nucho | 3:1cf99502f396 | 36 | #define _ROS_SERVICE_CLIENT_H_ |
| nucho | 3:1cf99502f396 | 37 | |
| nucho | 3:1cf99502f396 | 38 | #include "rosserial_msgs/TopicInfo.h" |
| nucho | 3:1cf99502f396 | 39 | |
| nucho | 3:1cf99502f396 | 40 | #include "publisher.h" |
| nucho | 3:1cf99502f396 | 41 | #include "subscriber.h" |
| nucho | 3:1cf99502f396 | 42 | |
| nucho | 3:1cf99502f396 | 43 | namespace ros { |
| nucho | 3:1cf99502f396 | 44 | |
| nucho | 3:1cf99502f396 | 45 | template<typename MReq , typename MRes> |
| nucho | 3:1cf99502f396 | 46 | class ServiceClient : public Subscriber_ { |
| nucho | 3:1cf99502f396 | 47 | public: |
| nucho | 3:1cf99502f396 | 48 | ServiceClient(const char* topic_name) : |
| nucho | 3:1cf99502f396 | 49 | pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER) |
| nucho | 3:1cf99502f396 | 50 | { |
| nucho | 3:1cf99502f396 | 51 | this->topic_ = topic_name; |
| nucho | 3:1cf99502f396 | 52 | this->waiting = true; |
| nucho | 3:1cf99502f396 | 53 | } |
| nucho | 3:1cf99502f396 | 54 | |
| nucho | 3:1cf99502f396 | 55 | virtual void call(const MReq & request, MRes & response) |
| nucho | 3:1cf99502f396 | 56 | { |
| nucho | 3:1cf99502f396 | 57 | if(!pub.nh_->connected()) return; |
| nucho | 3:1cf99502f396 | 58 | ret = &response; |
| nucho | 3:1cf99502f396 | 59 | waiting = true; |
| nucho | 3:1cf99502f396 | 60 | pub.publish(&request); |
| nucho | 3:1cf99502f396 | 61 | while(waiting && pub.nh_->connected()) |
| nucho | 3:1cf99502f396 | 62 | if(pub.nh_->spinOnce() < 0) break; |
| nucho | 3:1cf99502f396 | 63 | } |
| nucho | 3:1cf99502f396 | 64 | |
| nucho | 3:1cf99502f396 | 65 | // these refer to the subscriber |
| nucho | 3:1cf99502f396 | 66 | virtual void callback(unsigned char *data){ |
| nucho | 3:1cf99502f396 | 67 | ret->deserialize(data); |
| nucho | 3:1cf99502f396 | 68 | waiting = false; |
| nucho | 3:1cf99502f396 | 69 | } |
| nucho | 3:1cf99502f396 | 70 | virtual const char * getMsgType(){ return this->resp.getType(); } |
| nucho | 3:1cf99502f396 | 71 | virtual const char * getMsgMD5(){ return this->resp.getMD5(); } |
| nucho | 3:1cf99502f396 | 72 | virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; } |
| nucho | 3:1cf99502f396 | 73 | |
| nucho | 3:1cf99502f396 | 74 | MReq req; |
| nucho | 3:1cf99502f396 | 75 | MRes resp; |
| nucho | 3:1cf99502f396 | 76 | MRes * ret; |
| nucho | 3:1cf99502f396 | 77 | bool waiting; |
| nucho | 3:1cf99502f396 | 78 | Publisher pub; |
| nucho | 3:1cf99502f396 | 79 | }; |
| nucho | 3:1cf99502f396 | 80 | |
| nucho | 3:1cf99502f396 | 81 | } |
| nucho | 3:1cf99502f396 | 82 | |
| nucho | 3:1cf99502f396 | 83 | #endif |