How to use

ServiceRequest

in

edu.wpi.rail.jrosbridge.services

  /**
   * Create a clone of this ServiceRequest.
   */
  @Override
  public ServiceRequest clone() {
    return new ServiceRequest(this.toJsonObject(), this.serviceRequestType);
  }
}

ServiceRequest request = new ServiceRequest(args);
request.setId(id);
cb.handleServiceCall(request);

/**
 * Create a new Empty ServiceRequest based on the given JSON string. Any
 * missing values will be set to their defaults.
 * 
 * @param jsonString
 *            The JSON string to parse.
 * @return A Empty ServiceRequest based on the given JSON string.
 */
public static Request fromJsonString(String jsonString) {
  // convert to a ServiceRequest
  return Empty.Request.fromServiceRequest(new ServiceRequest(
      jsonString));
}

/**
 * Create a new Empty ServiceRequest based on the given ServiceRequest.
 * Any missing values will be set to their defaults.
 *
 * @param req the req
 * @return A Empty ServiceRequest based on the given Message.
 */
public static Request fromServiceRequest(ServiceRequest req) {
  // get it from the JSON object
  return Empty.Request.fromJsonObject(req.toJsonObject());
}

ServiceRequest request = new ServiceRequest(args);
request.setId(id);
cb.handleServiceCall(request);

/**
 * Create a new Empty ServiceRequest based on the given JSON string. Any
 * missing values will be set to their defaults.
 * 
 * @param jsonString
 *            The JSON string to parse.
 * @return A Empty ServiceRequest based on the given JSON string.
 */
public static Request fromJsonString(String jsonString) {
  // convert to a ServiceRequest
  return Empty.Request.fromServiceRequest(new ServiceRequest(
      jsonString));
}

/**
 * Create a new Empty ServiceRequest based on the given ServiceRequest.
 * Any missing values will be set to their defaults.
 * 
 * @param m
 *            The ServiceRequest to parse.
 * @return A Empty ServiceRequest based on the given Message.
 */
public static Request fromServiceRequest(ServiceRequest req) {
  // get it from the JSON object
  return Empty.Request.fromJsonObject(req.toJsonObject());
}

  /**
   * Create a clone of this ServiceRequest.
   */
  @Override
  public ServiceRequest clone() {
    return new ServiceRequest(this.toJsonObject(), this.serviceRequestType);
  }
}

private String getMethodType(Ros ros, String topic) {
  Service addTwoInts = new Service(ros, "/rosapi/topic_type", "rosapi/TopicType");
  ServiceRequest request = new ServiceRequest("{\"topic\": \""+ topic +"\"}");
  ServiceResponse response = addTwoInts.callServiceAndWait(request);
  JSONObject ob = new JSONObject(response.toString());
  return ob.getString("type");
}

/**
 * Call this service. The callback function will be called with the
 * associated service response.
 * 
 * @param request
 *            The service request to send.
 * @param cb
 *            The callback used when the associated response comes back.
 */
public void callService(ServiceRequest request, ServiceCallback cb) {
  // construct the unique ID
  String callServceId = "call_service:" + this.name + ":"
      + this.ros.nextId();
  // register the callback function
  this.ros.registerServiceCallback(callServceId, cb);
  // build and send the rosbridge call
  JsonObject call = Json.createObjectBuilder()
      .add(JRosbridge.FIELD_OP, JRosbridge.OP_CODE_CALL_SERVICE)
      .add(JRosbridge.FIELD_ID, callServceId)
      .add(JRosbridge.FIELD_TYPE, this.type)
      .add(JRosbridge.FIELD_SERVICE, this.name)
      .add(JRosbridge.FIELD_ARGS, request.toJsonObject()).build();
  this.ros.send(call);
}

/**
 * Call this service. The callback function will be called with the
 * associated service response.
 * 
 * @param request
 *            The service request to send.
 * @param cb
 *            The callback used when the associated response comes back.
 */
public void callService(ServiceRequest request, ServiceCallback cb) {
  // construct the unique ID
  String callServceId = "call_service:" + this.name + ":"
      + this.ros.nextId();
  // register the callback function
  this.ros.registerServiceCallback(callServceId, cb);
  // build and send the rosbridge call
  JsonObject call = Json.createObjectBuilder()
      .add(JRosbridge.FIELD_OP, JRosbridge.OP_CODE_CALL_SERVICE)
      .add(JRosbridge.FIELD_ID, callServceId)
      .add(JRosbridge.FIELD_TYPE, this.type)
      .add(JRosbridge.FIELD_SERVICE, this.name)
      .add(JRosbridge.FIELD_ARGS, request.toJsonObject()).build();
  this.ros.send(call);
}