Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

ros/service_server.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 /*
akashvibhute 0:30537dec6e0b 2 * Software License Agreement (BSD License)
akashvibhute 0:30537dec6e0b 3 *
akashvibhute 0:30537dec6e0b 4 * Copyright (c) 2011, Willow Garage, Inc.
akashvibhute 0:30537dec6e0b 5 * All rights reserved.
akashvibhute 0:30537dec6e0b 6 *
akashvibhute 0:30537dec6e0b 7 * Redistribution and use in source and binary forms, with or without
akashvibhute 0:30537dec6e0b 8 * modification, are permitted provided that the following conditions
akashvibhute 0:30537dec6e0b 9 * are met:
akashvibhute 0:30537dec6e0b 10 *
akashvibhute 0:30537dec6e0b 11 * * Redistributions of source code must retain the above copyright
akashvibhute 0:30537dec6e0b 12 * notice, this list of conditions and the following disclaimer.
akashvibhute 0:30537dec6e0b 13 * * Redistributions in binary form must reproduce the above
akashvibhute 0:30537dec6e0b 14 * copyright notice, this list of conditions and the following
akashvibhute 0:30537dec6e0b 15 * disclaimer in the documentation and/or other materials provided
akashvibhute 0:30537dec6e0b 16 * with the distribution.
akashvibhute 0:30537dec6e0b 17 * * Neither the name of Willow Garage, Inc. nor the names of its
akashvibhute 0:30537dec6e0b 18 * contributors may be used to endorse or promote prducts derived
akashvibhute 0:30537dec6e0b 19 * from this software without specific prior written permission.
akashvibhute 0:30537dec6e0b 20 *
akashvibhute 0:30537dec6e0b 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
akashvibhute 0:30537dec6e0b 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
akashvibhute 0:30537dec6e0b 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
akashvibhute 0:30537dec6e0b 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
akashvibhute 0:30537dec6e0b 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
akashvibhute 0:30537dec6e0b 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
akashvibhute 0:30537dec6e0b 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
akashvibhute 0:30537dec6e0b 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
akashvibhute 0:30537dec6e0b 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
akashvibhute 0:30537dec6e0b 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
akashvibhute 0:30537dec6e0b 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
akashvibhute 0:30537dec6e0b 32 * POSSIBILITY OF SUCH DAMAGE.
akashvibhute 0:30537dec6e0b 33 */
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 #ifndef _ROS_SERVICE_SERVER_H_
akashvibhute 0:30537dec6e0b 36 #define _ROS_SERVICE_SERVER_H_
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 #include "rosserial_msgs/TopicInfo.h"
akashvibhute 0:30537dec6e0b 39
akashvibhute 0:30537dec6e0b 40 #include "publisher.h"
akashvibhute 0:30537dec6e0b 41 #include "subscriber.h"
akashvibhute 0:30537dec6e0b 42
akashvibhute 0:30537dec6e0b 43 namespace ros {
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 template<typename MReq , typename MRes>
akashvibhute 0:30537dec6e0b 46 class ServiceServer : public Subscriber_ {
akashvibhute 0:30537dec6e0b 47 public:
akashvibhute 0:30537dec6e0b 48 typedef void(*CallbackT)(const MReq&, MRes&);
akashvibhute 0:30537dec6e0b 49
akashvibhute 0:30537dec6e0b 50 ServiceServer(const char* topic_name, CallbackT cb) :
akashvibhute 0:30537dec6e0b 51 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
akashvibhute 0:30537dec6e0b 52 {
akashvibhute 0:30537dec6e0b 53 this->topic_ = topic_name;
akashvibhute 0:30537dec6e0b 54 this->cb_ = cb;
akashvibhute 0:30537dec6e0b 55 }
akashvibhute 0:30537dec6e0b 56
akashvibhute 0:30537dec6e0b 57 // these refer to the subscriber
akashvibhute 0:30537dec6e0b 58 virtual void callback(unsigned char *data){
akashvibhute 0:30537dec6e0b 59 req.deserialize(data);
akashvibhute 0:30537dec6e0b 60 cb_(req,resp);
akashvibhute 0:30537dec6e0b 61 pub.publish(&resp);
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63 virtual const char * getMsgType(){ return this->req.getType(); }
akashvibhute 0:30537dec6e0b 64 virtual const char * getMsgMD5(){ return this->req.getMD5(); }
akashvibhute 0:30537dec6e0b 65 virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 MReq req;
akashvibhute 0:30537dec6e0b 68 MRes resp;
akashvibhute 0:30537dec6e0b 69 Publisher pub;
akashvibhute 0:30537dec6e0b 70 private:
akashvibhute 0:30537dec6e0b 71 CallbackT cb_;
akashvibhute 0:30537dec6e0b 72 };
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 }
akashvibhute 0:30537dec6e0b 75
akashvibhute 0:30537dec6e0b 76 #endif
akashvibhute 0:30537dec6e0b 77