a
ros/service_server.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
/* * 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> class ServiceServer : 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