Class: ROS::TCPROS::ServiceClient

Inherits:

Object

• Object
• ROS::TCPROS::ServiceClient

show all

Includes:

Message

Defined in:

lib/ros/tcpros/service_client.rb

Overview

Instance Attribute Summary (collapse)

• - (String) host readonly

  host of this connection.

• - (Integer) port readonly

  port number of this socket.

Instance Method Summary (collapse)

• - (Header) build_header

  build henader message for service client.

• - (Boolean) call(srv_request, srv_response)

  call the service by sending srv request message, and receive response message.

• - (Boolean) check_header(header)

  check md5sum only.

• - (ServiceClient) initialize(host, port, caller_id, service_name, service_type, persistent) constructor

  A new instance of ServiceClient.

• - (Integer) read_ok_byte

  read ok byte for boolean service result.

• - (Object) shutdown

  close the socket.

Methods included from Message

#protocol, #read_all, #read_header, #write_header, #write_msg

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# File 'lib/ros/tcpros/service_client.rb', line 26

def initialize(host, port, caller_id, service_name, service_type, persistent)
  @caller_id = caller_id
  @service_name = service_name
  @service_type = service_type
  @port = port
  @host = host
  @socket = TCPSocket.open(@host, @port)
  @persistent = persistent
  @socket.setsockopt(Socket::IPPROTO_TCP, Socket::TCP_NODELAY, 1)
end

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# File 'lib/ros/tcpros/service_client.rb', line 101

def host
  @host
end

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# File 'lib/ros/tcpros/service_client.rb', line 97

def port
  @port
end

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# File 'lib/ros/tcpros/service_client.rb', line 41

def build_header
  header = Header.new
  header.push_data("callerid", @caller_id)
  header.push_data("service", @service_name)
  header.push_data("md5sum", @service_type.md5sum)
  header.push_data("type", @service_type.type)
  if @persistent
	header.push_data("persistent", '1')
  end
  header
end

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# File 'lib/ros/tcpros/service_client.rb', line 59

def call(srv_request, srv_response)
  write_header(@socket, build_header)
  if check_header(read_header(@socket))
	write_msg(@socket, srv_request)
	@socket.flush
	ok_byte = read_ok_byte
	if ok_byte == 1
	  srv_response.deserialize(read_all(@socket))
	  return true
	end
	false
  end
  false
end

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# File 'lib/ros/tcpros/service_client.rb', line 85

def check_header(header)
  header.valid?('md5sum', @service_type.md5sum)
end

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# File 'lib/ros/tcpros/service_client.rb', line 77

def read_ok_byte
  @socket.recv(1).unpack('c')[0]
end

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# File 'lib/ros/tcpros/service_client.rb', line 91

def shutdown
  @socket.close
end