service_client_handler.h

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#ifndef SERVICE_CLIENT_HANDLER_H
#define SERVICE_CLIENT_HANDLER_H
 
#include <ros/ros.h>
#include <ros/package.h>
 
#include <string>
#include <future>
#include <mutex>
 
namespace mrs_lib
{
 
/* class ServiceClientHandler_impl //{ */
 
template <class ServiceType>
class ServiceClientHandler_impl {
 
public:
  ServiceClientHandler_impl(void);
 
  ~ServiceClientHandler_impl(void){};
 
  ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address);
 
  bool call(ServiceType& srv);
 
  bool call(ServiceType& srv, const int& attempts);
 
  bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
 
  std::future<ServiceType> callAsync(ServiceType& srv);
 
  std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
 
  std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
 
private:
  ros::ServiceClient service_client_;
  std::mutex         mutex_service_client_;
  std::atomic<bool>  service_initialized_;
 
  std::string _address_;
 
  ServiceType async_data_;
  int         async_attempts_;
  double      async_repeat_delay_;
  std::mutex  mutex_async_;
 
  ServiceType asyncRun(void);
};
 
//}
 
/* class ServiceClientHandler //{ */
 
template <class ServiceType>
class ServiceClientHandler {
 
public:
  ServiceClientHandler(void){};
 
  ~ServiceClientHandler(void){};
 
  ServiceClientHandler& operator=(const ServiceClientHandler& other);
 
  ServiceClientHandler(const ServiceClientHandler& other);
 
  ServiceClientHandler(ros::NodeHandle& nh, const std::string& address);
 
  void initialize(ros::NodeHandle& nh, const std::string& address);
 
  bool call(ServiceType& srv);
 
  bool call(ServiceType& srv, const int& attempts);
 
  bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
 
  std::future<ServiceType> callAsync(ServiceType& srv);
 
  std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
 
  std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
 
private:
  std::shared_ptr<ServiceClientHandler_impl<ServiceType>> impl_;
};
 
//}
 
}  // namespace mrs_lib
 
#include <mrs_lib/impl/service_client_handler.hpp>
 
#endif  // SERVICE_CLIENT_HANDLER_H