service_server.h

00001 /* 
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00034 
00035 #ifndef _ROS_SERVICE_SERVER_H_
00036 #define _ROS_SERVICE_SERVER_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 
00040 #include "ros/publisher.h"
00041 #include "ros/subscriber.h"
00042 
00043 namespace ros {
00044 
00045   template<typename MReq , typename MRes>
00046   class ServiceServer : public Subscriber_ {
00047     public:
00048       typedef void(*CallbackT)(const MReq&,  MRes&);
00049 
00050       ServiceServer(const char* topic_name, CallbackT cb) :
00051         pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
00052       {
00053         this->topic_ = topic_name;
00054         this->cb_ = cb;
00055       }
00056 
00057       // these refer to the subscriber
00058       virtual void callback(unsigned char *data){
00059         req.deserialize(data);
00060         cb_(req,resp);
00061         pub.publish(&resp);
00062       }
00063       virtual const char * getMsgType(){ return this->req.getType(); }
00064       virtual const char * getMsgMD5(){ return this->req.getMD5(); }
00065       virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
00066 
00067       MReq req;
00068       MRes resp;
00069       Publisher pub;
00070     private:
00071       CallbackT cb_;
00072   };
00073 
00074 }
00075 
00076 #endif