ros_service.h

#pragma once

#include <list>

#include "rapidjson/document.h"

#include "ros_bridge.h"
#include "types.h"
#include "messages/rosbridge_advertise_service_msg.h"
#include "messages/rosbridge_call_service_msg.h"
#include "messages/rosbridge_unadvertise_service_msg.h"

using json = rapidjson::Document;

namespace rosbridge2cpp{
  class ROSService {
    public:
      // TODO: Implement setter of other options
      ROSService (ROSBridge &ros, std::string service_name, std::string service_type) : 
        ros_(ros), service_name_(service_name), service_type_(service_type){
        }

      // Advertise a service and define the request handling callback
      // The given callback will handle all service requests.
      //
      // The callback will get the CallService packet from the server and 
      // a reference to a ServiceResponse packet, that can be filled as desired.
      //
      // This method will only be used when using rapidjson, since we need to use
      // the allocator of rapidjson to avoid copy operations.
      void Advertise(FunVrROSCallServiceMsgrROSServiceResponseMsgrAllocator callback);
      void Advertise(FunVrROSCallServiceMsgrROSServiceResponseMsg callback);

      // Unadvertise an advertised service
      // Will do nothing if no service has been advertised before in this instance
      void Unadvertise();

      // TODO failedCallback parameter
      // Call a ROS-Service
      // The given callback variable will be called when the service reply
      // has been received by ROSBridge. It will passed the received data to the callback.
      // The whole content of the "request" parameter will be send as the "args"
      // argument of the Service Request
      void CallService(rapidjson::Value &request, FunVrROSServiceResponseMsg callback);
      void CallService(bson_t *request, FunVrROSServiceResponseMsg callback);

      std::string GenerateServiceCallID();

      std::string ServiceName(){
        return service_name_;
      }

    private:
      ROSBridge &ros_;
      std::string service_name_;
      std::string service_type_;
      bool is_advertised_ = false;
  };
}