modify for Hydro version
Fork of rosserial_mbed_lib by
ros/service_server.h@1:ff0ec969dad1, 2011-10-16 (annotated)
- Committer:
- nucho
- Date:
- Sun Oct 16 07:19:36 2011 +0000
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 1:ff0ec969dad1 | 1 | /* |
nucho | 1:ff0ec969dad1 | 2 | * Software License Agreement (BSD License) |
nucho | 1:ff0ec969dad1 | 3 | * |
nucho | 1:ff0ec969dad1 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
nucho | 1:ff0ec969dad1 | 5 | * All rights reserved. |
nucho | 1:ff0ec969dad1 | 6 | * |
nucho | 1:ff0ec969dad1 | 7 | * Redistribution and use in source and binary forms, with or without |
nucho | 1:ff0ec969dad1 | 8 | * modification, are permitted provided that the following conditions |
nucho | 1:ff0ec969dad1 | 9 | * are met: |
nucho | 0:77afd7560544 | 10 | * |
nucho | 1:ff0ec969dad1 | 11 | * * Redistributions of source code must retain the above copyright |
nucho | 1:ff0ec969dad1 | 12 | * notice, this list of conditions and the following disclaimer. |
nucho | 1:ff0ec969dad1 | 13 | * * Redistributions in binary form must reproduce the above |
nucho | 1:ff0ec969dad1 | 14 | * copyright notice, this list of conditions and the following |
nucho | 1:ff0ec969dad1 | 15 | * disclaimer in the documentation and/or other materials provided |
nucho | 1:ff0ec969dad1 | 16 | * with the distribution. |
nucho | 1:ff0ec969dad1 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
nucho | 1:ff0ec969dad1 | 18 | * contributors may be used to endorse or promote prducts derived |
nucho | 1:ff0ec969dad1 | 19 | * from this software without specific prior written permission. |
nucho | 1:ff0ec969dad1 | 20 | * |
nucho | 1:ff0ec969dad1 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
nucho | 1:ff0ec969dad1 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
nucho | 1:ff0ec969dad1 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
nucho | 1:ff0ec969dad1 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
nucho | 1:ff0ec969dad1 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
nucho | 1:ff0ec969dad1 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
nucho | 1:ff0ec969dad1 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
nucho | 1:ff0ec969dad1 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nucho | 1:ff0ec969dad1 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
nucho | 1:ff0ec969dad1 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
nucho | 1:ff0ec969dad1 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
nucho | 1:ff0ec969dad1 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
nucho | 0:77afd7560544 | 33 | */ |
nucho | 0:77afd7560544 | 34 | |
nucho | 1:ff0ec969dad1 | 35 | #ifndef ROS_SERVICE_SERVER_H_ |
nucho | 1:ff0ec969dad1 | 36 | #define ROS_SERVICE_SERVER_H_ |
nucho | 0:77afd7560544 | 37 | |
nucho | 0:77afd7560544 | 38 | #include "node_output.h" |
nucho | 0:77afd7560544 | 39 | |
nucho | 1:ff0ec969dad1 | 40 | namespace ros { |
nucho | 1:ff0ec969dad1 | 41 | |
nucho | 1:ff0ec969dad1 | 42 | template<typename SrvRequest , typename SrvResponse> |
nucho | 0:77afd7560544 | 43 | class ServiceServer : MsgReceiver{ |
nucho | 1:ff0ec969dad1 | 44 | public: |
nucho | 0:77afd7560544 | 45 | typedef void(*CallbackT)(const SrvRequest&, SrvResponse&); |
nucho | 0:77afd7560544 | 46 | |
nucho | 0:77afd7560544 | 47 | ServiceServer(const char* topic_name, CallbackT cb){ |
nucho | 1:ff0ec969dad1 | 48 | this->topic_ = topic_name; |
nucho | 1:ff0ec969dad1 | 49 | this->cb_ = cb; |
nucho | 0:77afd7560544 | 50 | } |
nucho | 0:77afd7560544 | 51 | |
nucho | 0:77afd7560544 | 52 | ServiceServer(ServiceServer& srv){ |
nucho | 1:ff0ec969dad1 | 53 | this->topic_ = srv.topic_; |
nucho | 1:ff0ec969dad1 | 54 | this->cb_ = srv.cb_; |
nucho | 0:77afd7560544 | 55 | } |
nucho | 0:77afd7560544 | 56 | |
nucho | 1:ff0ec969dad1 | 57 | virtual void receive(unsigned char * data){ |
nucho | 1:ff0ec969dad1 | 58 | req.deserialize(data); |
nucho | 1:ff0ec969dad1 | 59 | this->cb_(req, resp); |
nucho | 1:ff0ec969dad1 | 60 | no_->publish(id_, &resp); |
nucho | 1:ff0ec969dad1 | 61 | } |
nucho | 1:ff0ec969dad1 | 62 | |
nucho | 1:ff0ec969dad1 | 63 | virtual int _getType(){ |
nucho | 0:77afd7560544 | 64 | return 3; |
nucho | 1:ff0ec969dad1 | 65 | } |
nucho | 1:ff0ec969dad1 | 66 | |
nucho | 1:ff0ec969dad1 | 67 | virtual const char * getMsgType(){ |
nucho | 0:77afd7560544 | 68 | return req.getType(); |
nucho | 1:ff0ec969dad1 | 69 | } |
nucho | 0:77afd7560544 | 70 | |
nucho | 0:77afd7560544 | 71 | SrvRequest req; |
nucho | 0:77afd7560544 | 72 | SrvResponse resp; |
nucho | 0:77afd7560544 | 73 | NodeOutput_ * no_; |
nucho | 0:77afd7560544 | 74 | |
nucho | 1:ff0ec969dad1 | 75 | private: |
nucho | 1:ff0ec969dad1 | 76 | CallbackT cb_; |
nucho | 0:77afd7560544 | 77 | }; |
nucho | 1:ff0ec969dad1 | 78 | |
nucho | 0:77afd7560544 | 79 | } |
nucho | 0:77afd7560544 | 80 | |
nucho | 1:ff0ec969dad1 | 81 | #endif |