smacc_service_client.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <smacc/smacc_client.h>
#include <boost/optional/optional_io.hpp>
 
namespace smacc
{
namespace client_bases
{
template <typename ServiceType>
class SmaccServiceClient : public smacc::ISmaccClient
{
public:
    boost::optional<std::string> serviceName_;
 
    SmaccServiceClient()
    {
        initialized_ = false;
    }
    SmaccServiceClient(std::string service_name)
    {
      serviceName_ = service_name;
      initialized_ = false;
    }
 
    virtual void initialize() override
    {
        if (!initialized_)
        {
            if (!serviceName_)
            {
                ROS_ERROR("service client with no service name set. Skipping.");
            }
            else
            {
                ROS_INFO_STREAM("[" << this->getName() << "] Client Service: " << *serviceName_);
                this->initialized_ = true;
 
                client_ = nh_.serviceClient<ServiceType>(*serviceName_);
            }
        }
    }
 
    bool call(ServiceType &srvreq)
    {
        return client_.call(srvreq);
    }
 
protected:
    ros::NodeHandle nh_;
    ros::ServiceClient client_;
    bool initialized_;
};
} // namespace client_bases
} // namespace smacc