Diff: ros_lib/ros/service_server.h

Revision:

0:020db18a476d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib/ros/service_server.h	Wed Oct 30 14:59:49 2019 +0000
@@ -0,0 +1,130 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_SERVICE_SERVER_H_
+#define _ROS_SERVICE_SERVER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+#include "ros/publisher.h"
+#include "ros/subscriber.h"
+
+namespace ros
+{
+
+template<typename MReq , typename MRes, typename ObjT = void>
+class ServiceServer : public Subscriber_
+{
+public:
+  typedef void(ObjT::*CallbackT)(const MReq&,  MRes&);
+
+  ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) :
+    pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER),
+    obj_(obj)
+  {
+    this->topic_ = topic_name;
+    this->cb_ = cb;
+  }
+
+  // these refer to the subscriber
+  virtual void callback(unsigned char *data)
+  {
+    req.deserialize(data);
+    (obj_->*cb_)(req, resp);
+    pub.publish(&resp);
+  }
+  virtual const char * getMsgType()
+  {
+    return this->req.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->req.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
+  }
+
+  MReq req;
+  MRes resp;
+  Publisher pub;
+private:
+  CallbackT cb_;
+  ObjT* obj_;
+};
+
+template<typename MReq , typename MRes>
+class ServiceServer<MReq, MRes, void> : public Subscriber_
+{
+public:
+  typedef void(*CallbackT)(const MReq&,  MRes&);
+
+  ServiceServer(const char* topic_name, CallbackT cb) :
+    pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
+  {
+    this->topic_ = topic_name;
+    this->cb_ = cb;
+  }
+
+  // these refer to the subscriber
+  virtual void callback(unsigned char *data)
+  {
+    req.deserialize(data);
+    cb_(req, resp);
+    pub.publish(&resp);
+  }
+  virtual const char * getMsgType()
+  {
+    return this->req.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->req.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
+  }
+
+  MReq req;
+  MRes resp;
+  Publisher pub;
+private:
+  CallbackT cb_;
+};
+
+}
+
+#endif