Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

ros/service_server.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 /*
Gary Servin 0:04ac6be8229a 2 * Software License Agreement (BSD License)
Gary Servin 0:04ac6be8229a 3 *
Gary Servin 0:04ac6be8229a 4 * Copyright (c) 2011, Willow Garage, Inc.
Gary Servin 0:04ac6be8229a 5 * All rights reserved.
Gary Servin 0:04ac6be8229a 6 *
Gary Servin 0:04ac6be8229a 7 * Redistribution and use in source and binary forms, with or without
Gary Servin 0:04ac6be8229a 8 * modification, are permitted provided that the following conditions
Gary Servin 0:04ac6be8229a 9 * are met:
Gary Servin 0:04ac6be8229a 10 *
Gary Servin 0:04ac6be8229a 11 * * Redistributions of source code must retain the above copyright
Gary Servin 0:04ac6be8229a 12 * notice, this list of conditions and the following disclaimer.
Gary Servin 0:04ac6be8229a 13 * * Redistributions in binary form must reproduce the above
Gary Servin 0:04ac6be8229a 14 * copyright notice, this list of conditions and the following
Gary Servin 0:04ac6be8229a 15 * disclaimer in the documentation and/or other materials provided
Gary Servin 0:04ac6be8229a 16 * with the distribution.
Gary Servin 0:04ac6be8229a 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Gary Servin 0:04ac6be8229a 18 * contributors may be used to endorse or promote prducts derived
Gary Servin 0:04ac6be8229a 19 * from this software without specific prior written permission.
Gary Servin 0:04ac6be8229a 20 *
Gary Servin 0:04ac6be8229a 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Gary Servin 0:04ac6be8229a 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Gary Servin 0:04ac6be8229a 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Gary Servin 0:04ac6be8229a 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Gary Servin 0:04ac6be8229a 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Gary Servin 0:04ac6be8229a 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Gary Servin 0:04ac6be8229a 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Gary Servin 0:04ac6be8229a 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Gary Servin 0:04ac6be8229a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Gary Servin 0:04ac6be8229a 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Gary Servin 0:04ac6be8229a 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Gary Servin 0:04ac6be8229a 32 * POSSIBILITY OF SUCH DAMAGE.
Gary Servin 0:04ac6be8229a 33 */
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 #ifndef _ROS_SERVICE_SERVER_H_
Gary Servin 0:04ac6be8229a 36 #define _ROS_SERVICE_SERVER_H_
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 #include "rosserial_msgs/TopicInfo.h"
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 #include "ros/publisher.h"
Gary Servin 0:04ac6be8229a 41 #include "ros/subscriber.h"
Gary Servin 0:04ac6be8229a 42
Gary Servin 0:04ac6be8229a 43 namespace ros
Gary Servin 0:04ac6be8229a 44 {
Gary Servin 0:04ac6be8229a 45
Gary Servin 0:04ac6be8229a 46 template<typename MReq , typename MRes, typename ObjT = void>
Gary Servin 0:04ac6be8229a 47 class ServiceServer : public Subscriber_
Gary Servin 0:04ac6be8229a 48 {
Gary Servin 0:04ac6be8229a 49 public:
Gary Servin 0:04ac6be8229a 50 typedef void(ObjT::*CallbackT)(const MReq&, MRes&);
Gary Servin 0:04ac6be8229a 51
Gary Servin 0:04ac6be8229a 52 ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) :
Gary Servin 0:04ac6be8229a 53 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER),
Gary Servin 0:04ac6be8229a 54 obj_(obj)
Gary Servin 0:04ac6be8229a 55 {
Gary Servin 0:04ac6be8229a 56 this->topic_ = topic_name;
Gary Servin 0:04ac6be8229a 57 this->cb_ = cb;
Gary Servin 0:04ac6be8229a 58 }
Gary Servin 0:04ac6be8229a 59
Gary Servin 0:04ac6be8229a 60 // these refer to the subscriber
Gary Servin 0:04ac6be8229a 61 virtual void callback(unsigned char *data)
Gary Servin 0:04ac6be8229a 62 {
Gary Servin 0:04ac6be8229a 63 req.deserialize(data);
Gary Servin 0:04ac6be8229a 64 (obj_->*cb_)(req, resp);
Gary Servin 0:04ac6be8229a 65 pub.publish(&resp);
Gary Servin 0:04ac6be8229a 66 }
Gary Servin 0:04ac6be8229a 67 virtual const char * getMsgType()
Gary Servin 0:04ac6be8229a 68 {
Gary Servin 0:04ac6be8229a 69 return this->req.getType();
Gary Servin 0:04ac6be8229a 70 }
Gary Servin 0:04ac6be8229a 71 virtual const char * getMsgMD5()
Gary Servin 0:04ac6be8229a 72 {
Gary Servin 0:04ac6be8229a 73 return this->req.getMD5();
Gary Servin 0:04ac6be8229a 74 }
Gary Servin 0:04ac6be8229a 75 virtual int getEndpointType()
Gary Servin 0:04ac6be8229a 76 {
Gary Servin 0:04ac6be8229a 77 return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79
Gary Servin 0:04ac6be8229a 80 MReq req;
Gary Servin 0:04ac6be8229a 81 MRes resp;
Gary Servin 0:04ac6be8229a 82 Publisher pub;
Gary Servin 0:04ac6be8229a 83 private:
Gary Servin 0:04ac6be8229a 84 CallbackT cb_;
Gary Servin 0:04ac6be8229a 85 ObjT* obj_;
Gary Servin 0:04ac6be8229a 86 };
Gary Servin 0:04ac6be8229a 87
Gary Servin 0:04ac6be8229a 88 template<typename MReq , typename MRes>
Gary Servin 0:04ac6be8229a 89 class ServiceServer<MReq, MRes, void> : public Subscriber_
Gary Servin 0:04ac6be8229a 90 {
Gary Servin 0:04ac6be8229a 91 public:
Gary Servin 0:04ac6be8229a 92 typedef void(*CallbackT)(const MReq&, MRes&);
Gary Servin 0:04ac6be8229a 93
Gary Servin 0:04ac6be8229a 94 ServiceServer(const char* topic_name, CallbackT cb) :
Gary Servin 0:04ac6be8229a 95 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
Gary Servin 0:04ac6be8229a 96 {
Gary Servin 0:04ac6be8229a 97 this->topic_ = topic_name;
Gary Servin 0:04ac6be8229a 98 this->cb_ = cb;
Gary Servin 0:04ac6be8229a 99 }
Gary Servin 0:04ac6be8229a 100
Gary Servin 0:04ac6be8229a 101 // these refer to the subscriber
Gary Servin 0:04ac6be8229a 102 virtual void callback(unsigned char *data)
Gary Servin 0:04ac6be8229a 103 {
Gary Servin 0:04ac6be8229a 104 req.deserialize(data);
Gary Servin 0:04ac6be8229a 105 cb_(req, resp);
Gary Servin 0:04ac6be8229a 106 pub.publish(&resp);
Gary Servin 0:04ac6be8229a 107 }
Gary Servin 0:04ac6be8229a 108 virtual const char * getMsgType()
Gary Servin 0:04ac6be8229a 109 {
Gary Servin 0:04ac6be8229a 110 return this->req.getType();
Gary Servin 0:04ac6be8229a 111 }
Gary Servin 0:04ac6be8229a 112 virtual const char * getMsgMD5()
Gary Servin 0:04ac6be8229a 113 {
Gary Servin 0:04ac6be8229a 114 return this->req.getMD5();
Gary Servin 0:04ac6be8229a 115 }
Gary Servin 0:04ac6be8229a 116 virtual int getEndpointType()
Gary Servin 0:04ac6be8229a 117 {
Gary Servin 0:04ac6be8229a 118 return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
Gary Servin 0:04ac6be8229a 119 }
Gary Servin 0:04ac6be8229a 120
Gary Servin 0:04ac6be8229a 121 MReq req;
Gary Servin 0:04ac6be8229a 122 MRes resp;
Gary Servin 0:04ac6be8229a 123 Publisher pub;
Gary Servin 0:04ac6be8229a 124 private:
Gary Servin 0:04ac6be8229a 125 CallbackT cb_;
Gary Servin 0:04ac6be8229a 126 };
Gary Servin 0:04ac6be8229a 127
Gary Servin 0:04ac6be8229a 128 }
Gary Servin 0:04ac6be8229a 129
Gary Servin 0:04ac6be8229a 130 #endif