Initial implementation for a gz service oneway command

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

src/cmd/gz.cc

@@ -260,10 +260,60 @@ extern "C" void cmdServiceReq(const char *_service,
     else
       std::cout << "Service call failed" << std::endl;
   }
-  else
+  else if (_timeout > 100)
     std::cerr << "Service call timed out" << std::endl;
 }
 
+//////////////////////////////////////////////////
+extern "C" void cmdServiceReqOneway(const char *_service, const char *_reqType,
+  const char *_reqData)
+{
+  if (!_service)
+  {
+    std::cerr << "Service name is null\n";
+    return;
+  }
+
+  if (!_reqType)
+  {
+    std::cerr << "Request type is null\n";
+    return;
+  }
+
+  if (!_reqData)
+  {
+    std::cerr << "Request data is null\n";
+    return;
+  }
+
+  // Create the request, and populate the field with _reqData
+  auto req = msgs::Factory::New(_reqType, _reqData);
+  if (!req)
+  {
+    std::cerr << "Unable to create request of type[" << _reqType << "] "
+              << "with data[" << _reqData << "].\n";
+    return;
+  }
+
+  // Create the response.
+  auto rep = msgs::Factory::New("gz.msgs.Empty");
+  if (!rep)
+  {
+    std::cerr << "Unable to create response of type[gz.msgs.Empty].\n";
+    return;
+  }
+
+  // Create the node.
+  Node node;
+  bool result;
+  int timeout = 1000;
+
+  // Request the service.
+  bool executed = node.Request(_service, *req, timeout, *rep, result);
+  if (!executed && timeout > 1000)
+    std::cerr << "Service call failed" << std::endl;
+}
+
 //////////////////////////////////////////////////
 extern "C" void cmdTopicEcho(const char *_topic,
   const double _duration, int _count, MsgOutputFormat _outputFormat)

src/cmd/gz.hh

@@ -44,8 +44,8 @@ extern "C" void cmdServiceList();
 /// E.g.: cmdTopicPub("/foo", "gz.msgs.StringMsg",
 ///                   "'data:\"Custom data\"');
 extern "C" void cmdTopicPub(const char *_topic,
-                                                       const char *_msgType,
-                                                       const char *_msgData);
+                            const char *_msgType,
+                            const char *_msgData);
 
 /// \brief External hook to execute 'gz service -r' from the command line.
 /// \param[in] _service Service name.
@@ -58,10 +58,21 @@ extern "C" void cmdTopicPub(const char *_topic,
 ///                     "gz.msgs.StringMsg", 1000,
 ///                     "'data:\"Custom data\"');
 extern "C" void cmdServiceReq(const char *_service,
-                                                         const char *_reqType,
-                                                         const char *_repType,
-                                                         const int _timeout,
-                                                         const char *_reqData);
+                              const char *_reqType,
+                              const char *_repType,
+                              const int _timeout,
+                              const char *_reqData);
+
+/// \brief External hook to execute 'gz service -r' from the command line.
+/// \param[in] _service Service name.
+/// \param[in] _reqType Message type used in the request.
+/// \param[in] _reqData Input data sent in the request.
+/// The format expected is the same used by Protobuf DebugString().
+/// E.g.: cmdServiceReq("/bar", "gz.msgs.StringMsg",
+///                     "gz.msgs.StringMsg");
+extern "C" void cmdServiceReqOneway(const char *_service,
+                                    const char *_reqType,
+                                    const char *_reqData);
 
 extern "C" {
   /// \brief Enum used for specifing the message output format for functions

src/cmd/service_main.cc

@@ -30,6 +30,7 @@ enum class ServiceCommand
   kServiceList,
   kServiceInfo,
   kServiceReq,
+  kServiceReqOneway,
 };
 
 //////////////////////////////////////////////////
@@ -72,6 +73,10 @@ void runServiceCommand(const ServiceOptions &_opt)
           _opt.reqType.c_str(), _opt.repType.c_str(),
           _opt.timeout, _opt.reqData.c_str());
       break;
+    case ServiceCommand::kServiceReqOneway:
+      cmdServiceReqOneway(_opt.service.c_str(),
+          _opt.reqType.c_str(), _opt.reqData.c_str());
+      break;
     case ServiceCommand::kNone:
     default:
       // In the event that there is no command, display help
@@ -127,6 +132,22 @@ the same used by Protobuf DebugString(). E.g.:
     ->needs(repTypeOpt)
     ->needs(timeoutOpt);
 
+  command->add_option_function<std::string>("-o,--req-oneway",
+      [opt](const std::string &_reqData){
+        opt->command = ServiceCommand::kServiceReqOneway;
+        opt->reqData = _reqData;
+      },
+R"(Request a service.
+TEXT is the input data.
+The format expected is
+the same used by Protobuf DebugString(). E.g.:
+  gz service -s /echo \
+    --reqtype gz.msgs.StringMsg \
+    --req-oneway 'data: "Hello"'
+)")
+    ->needs(serviceOpt)
+    ->needs(reqTypeOpt);
+
   _app.callback([opt](){runServiceCommand(*opt); });
 }