/*********************************************************************
*
* Software License Agreement (BSD License)
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*  Copyright (c) 2009, Willow Garage, Inc.
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_CLIENT_SERVICE_CLIENT_H_
#define ACTIONLIB_CLIENT_SERVICE_CLIENT_H_
#include <actionlib/action_definition.h>
#include <actionlib/client/simple_action_client.h>

namespace actionlib {
  class ServiceClientImp {
    public:
      ServiceClientImp(){}
      virtual bool call(const ros::Message* goal, std::string goal_md5sum, ros::Message* result, std::string result_md5sum) = 0;
      virtual bool waitForServer(const ros::Duration& timeout) = 0;
      virtual bool isServerConnected() = 0;
      virtual ~ServiceClientImp(){}
  };

  class ServiceClient {
    public:
      ServiceClient(boost::shared_ptr<ServiceClientImp> client) : client_(client) {}

      template <class Goal, class Result>
      bool call(const Goal& goal, Result& result);

      bool waitForServer(const ros::Duration& timeout = ros::Duration(0,0));
      bool isServerConnected();

    private:
      boost::shared_ptr<ServiceClientImp> client_;
  };

  template <class ActionSpec>
  ServiceClient serviceClient(ros::NodeHandle n, std::string name);

  template <class ActionSpec>
  class ServiceClientImpT : public ServiceClientImp
  {
    public:
      ACTION_DEFINITION(ActionSpec);
      typedef ClientGoalHandle<ActionSpec> GoalHandleT;
      typedef SimpleActionClient<ActionSpec> SimpleActionClientT;

      ServiceClientImpT(ros::NodeHandle n, std::string name);

      bool call(const ros::Message* goal, std::string goal_md5sum, ros::Message* result, std::string result_md5sum);
      bool waitForServer(const ros::Duration& timeout);
      bool isServerConnected();

    private:
      boost::scoped_ptr<SimpleActionClientT> ac_;
      
  };
};

//include the implementation
#include <actionlib/client/service_client_imp.h>
#endif
