/usr/include/actionlib/client/service_client_imp.h is in libactionlib-dev 1.11.7-1.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2009, Willow Garage, Inc.
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* * Redistributions of source code must retain the above copyright
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_CLIENT_SERVICE_CLIENT_IMP_H_
#define ACTIONLIB_CLIENT_SERVICE_CLIENT_IMP_H_
namespace actionlib {
template <class ActionSpec>
ServiceClientImpT<ActionSpec>::ServiceClientImpT(ros::NodeHandle n, std::string name){
ac_.reset(new SimpleActionClientT(n, name, true));
}
template <class ActionSpec>
bool ServiceClientImpT<ActionSpec>::waitForServer(const ros::Duration& timeout){
return ac_->waitForServer(timeout);
}
template <class ActionSpec>
bool ServiceClientImpT<ActionSpec>::isServerConnected(){
return ac_->isServerConnected();
}
template <class ActionSpec>
bool ServiceClientImpT<ActionSpec>::call(const void* goal, std::string goal_md5sum,
void* result, std::string result_md5sum)
{
//ok... we need to static cast the goal message and result message
const Goal* goal_c = static_cast<const Goal*>(goal);
Result* result_c = static_cast<Result*>(result);
//now we need to check that the md5sums are correct
namespace mt = ros::message_traits;
if(strcmp(mt::md5sum(*goal_c), goal_md5sum.c_str()) || strcmp(mt::md5sum(*result_c), result_md5sum.c_str()))
{
ROS_ERROR_NAMED("actionlib", "Incorrect md5Sums for goal and result types");
return false;
}
if(!ac_->isServerConnected()){
ROS_ERROR_NAMED("actionlib", "Attempting to make a service call when the server isn't actually connected to the client.");
return false;
}
ac_->sendGoalAndWait(*goal_c);
if(ac_->getState() == SimpleClientGoalState::SUCCEEDED){
(*result_c) = *(ac_->getResult());
return true;
}
return false;
}
//****** ServiceClient *******************
template <class Goal, class Result>
bool ServiceClient::call(const Goal& goal, Result& result){
namespace mt = ros::message_traits;
return client_->call(&goal, mt::md5sum(goal), &result, mt::md5sum(result));
}
bool ServiceClient::waitForServer(const ros::Duration& timeout){
return client_->waitForServer(timeout);
}
bool ServiceClient::isServerConnected(){
return client_->isServerConnected();
}
//****** actionlib::serviceClient *******************
template <class ActionSpec>
ServiceClient serviceClient(ros::NodeHandle n, std::string name){
boost::shared_ptr<ServiceClientImp> client_ptr(new ServiceClientImpT<ActionSpec>(n, name));
return ServiceClient(client_ptr);
}
};
#endif
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