Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/ros/service_server.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

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scarter1 0:020db18a476d 1 /*
scarter1 0:020db18a476d 2 * Software License Agreement (BSD License)
scarter1 0:020db18a476d 3 *
scarter1 0:020db18a476d 4 * Copyright (c) 2011, Willow Garage, Inc.
scarter1 0:020db18a476d 5 * All rights reserved.
scarter1 0:020db18a476d 6 *
scarter1 0:020db18a476d 7 * Redistribution and use in source and binary forms, with or without
scarter1 0:020db18a476d 8 * modification, are permitted provided that the following conditions
scarter1 0:020db18a476d 9 * are met:
scarter1 0:020db18a476d 10 *
scarter1 0:020db18a476d 11 * * Redistributions of source code must retain the above copyright
scarter1 0:020db18a476d 12 * notice, this list of conditions and the following disclaimer.
scarter1 0:020db18a476d 13 * * Redistributions in binary form must reproduce the above
scarter1 0:020db18a476d 14 * copyright notice, this list of conditions and the following
scarter1 0:020db18a476d 15 * disclaimer in the documentation and/or other materials provided
scarter1 0:020db18a476d 16 * with the distribution.
scarter1 0:020db18a476d 17 * * Neither the name of Willow Garage, Inc. nor the names of its
scarter1 0:020db18a476d 18 * contributors may be used to endorse or promote prducts derived
scarter1 0:020db18a476d 19 * from this software without specific prior written permission.
scarter1 0:020db18a476d 20 *
scarter1 0:020db18a476d 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
scarter1 0:020db18a476d 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
scarter1 0:020db18a476d 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
scarter1 0:020db18a476d 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
scarter1 0:020db18a476d 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
scarter1 0:020db18a476d 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
scarter1 0:020db18a476d 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
scarter1 0:020db18a476d 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
scarter1 0:020db18a476d 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
scarter1 0:020db18a476d 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
scarter1 0:020db18a476d 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
scarter1 0:020db18a476d 32 * POSSIBILITY OF SUCH DAMAGE.
scarter1 0:020db18a476d 33 */
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 #ifndef _ROS_SERVICE_SERVER_H_
scarter1 0:020db18a476d 36 #define _ROS_SERVICE_SERVER_H_
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 #include "rosserial_msgs/TopicInfo.h"
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 #include "ros/publisher.h"
scarter1 0:020db18a476d 41 #include "ros/subscriber.h"
scarter1 0:020db18a476d 42
scarter1 0:020db18a476d 43 namespace ros
scarter1 0:020db18a476d 44 {
scarter1 0:020db18a476d 45
scarter1 0:020db18a476d 46 template<typename MReq , typename MRes, typename ObjT = void>
scarter1 0:020db18a476d 47 class ServiceServer : public Subscriber_
scarter1 0:020db18a476d 48 {
scarter1 0:020db18a476d 49 public:
scarter1 0:020db18a476d 50 typedef void(ObjT::*CallbackT)(const MReq&, MRes&);
scarter1 0:020db18a476d 51
scarter1 0:020db18a476d 52 ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) :
scarter1 0:020db18a476d 53 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER),
scarter1 0:020db18a476d 54 obj_(obj)
scarter1 0:020db18a476d 55 {
scarter1 0:020db18a476d 56 this->topic_ = topic_name;
scarter1 0:020db18a476d 57 this->cb_ = cb;
scarter1 0:020db18a476d 58 }
scarter1 0:020db18a476d 59
scarter1 0:020db18a476d 60 // these refer to the subscriber
scarter1 0:020db18a476d 61 virtual void callback(unsigned char *data)
scarter1 0:020db18a476d 62 {
scarter1 0:020db18a476d 63 req.deserialize(data);
scarter1 0:020db18a476d 64 (obj_->*cb_)(req, resp);
scarter1 0:020db18a476d 65 pub.publish(&resp);
scarter1 0:020db18a476d 66 }
scarter1 0:020db18a476d 67 virtual const char * getMsgType()
scarter1 0:020db18a476d 68 {
scarter1 0:020db18a476d 69 return this->req.getType();
scarter1 0:020db18a476d 70 }
scarter1 0:020db18a476d 71 virtual const char * getMsgMD5()
scarter1 0:020db18a476d 72 {
scarter1 0:020db18a476d 73 return this->req.getMD5();
scarter1 0:020db18a476d 74 }
scarter1 0:020db18a476d 75 virtual int getEndpointType()
scarter1 0:020db18a476d 76 {
scarter1 0:020db18a476d 77 return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 MReq req;
scarter1 0:020db18a476d 81 MRes resp;
scarter1 0:020db18a476d 82 Publisher pub;
scarter1 0:020db18a476d 83 private:
scarter1 0:020db18a476d 84 CallbackT cb_;
scarter1 0:020db18a476d 85 ObjT* obj_;
scarter1 0:020db18a476d 86 };
scarter1 0:020db18a476d 87
scarter1 0:020db18a476d 88 template<typename MReq , typename MRes>
scarter1 0:020db18a476d 89 class ServiceServer<MReq, MRes, void> : public Subscriber_
scarter1 0:020db18a476d 90 {
scarter1 0:020db18a476d 91 public:
scarter1 0:020db18a476d 92 typedef void(*CallbackT)(const MReq&, MRes&);
scarter1 0:020db18a476d 93
scarter1 0:020db18a476d 94 ServiceServer(const char* topic_name, CallbackT cb) :
scarter1 0:020db18a476d 95 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
scarter1 0:020db18a476d 96 {
scarter1 0:020db18a476d 97 this->topic_ = topic_name;
scarter1 0:020db18a476d 98 this->cb_ = cb;
scarter1 0:020db18a476d 99 }
scarter1 0:020db18a476d 100
scarter1 0:020db18a476d 101 // these refer to the subscriber
scarter1 0:020db18a476d 102 virtual void callback(unsigned char *data)
scarter1 0:020db18a476d 103 {
scarter1 0:020db18a476d 104 req.deserialize(data);
scarter1 0:020db18a476d 105 cb_(req, resp);
scarter1 0:020db18a476d 106 pub.publish(&resp);
scarter1 0:020db18a476d 107 }
scarter1 0:020db18a476d 108 virtual const char * getMsgType()
scarter1 0:020db18a476d 109 {
scarter1 0:020db18a476d 110 return this->req.getType();
scarter1 0:020db18a476d 111 }
scarter1 0:020db18a476d 112 virtual const char * getMsgMD5()
scarter1 0:020db18a476d 113 {
scarter1 0:020db18a476d 114 return this->req.getMD5();
scarter1 0:020db18a476d 115 }
scarter1 0:020db18a476d 116 virtual int getEndpointType()
scarter1 0:020db18a476d 117 {
scarter1 0:020db18a476d 118 return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
scarter1 0:020db18a476d 119 }
scarter1 0:020db18a476d 120
scarter1 0:020db18a476d 121 MReq req;
scarter1 0:020db18a476d 122 MRes resp;
scarter1 0:020db18a476d 123 Publisher pub;
scarter1 0:020db18a476d 124 private:
scarter1 0:020db18a476d 125 CallbackT cb_;
scarter1 0:020db18a476d 126 };
scarter1 0:020db18a476d 127
scarter1 0:020db18a476d 128 }
scarter1 0:020db18a476d 129
scarter1 0:020db18a476d 130 #endif