nucho / Mbed 2 deprecated rosserial_mbed

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Dependencies:   rosserial_mbed_lib mbed Servo

ros/service_server.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
1:098e75fd5ad2 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:098e75fd5ad2 1 /*
nucho 1:098e75fd5ad2 2 * Software License Agreement (BSD License)
nucho 1:098e75fd5ad2 3 *
nucho 1:098e75fd5ad2 4 * Copyright (c) 2011, Willow Garage, Inc.
nucho 1:098e75fd5ad2 5 * All rights reserved.
nucho 1:098e75fd5ad2 6 *
nucho 1:098e75fd5ad2 7 * Redistribution and use in source and binary forms, with or without
nucho 1:098e75fd5ad2 8 * modification, are permitted provided that the following conditions
nucho 1:098e75fd5ad2 9 * are met:
nucho 0:06fc856e99ca 10 *
nucho 1:098e75fd5ad2 11 * * Redistributions of source code must retain the above copyright
nucho 1:098e75fd5ad2 12 * notice, this list of conditions and the following disclaimer.
nucho 1:098e75fd5ad2 13 * * Redistributions in binary form must reproduce the above
nucho 1:098e75fd5ad2 14 * copyright notice, this list of conditions and the following
nucho 1:098e75fd5ad2 15 * disclaimer in the documentation and/or other materials provided
nucho 1:098e75fd5ad2 16 * with the distribution.
nucho 1:098e75fd5ad2 17 * * Neither the name of Willow Garage, Inc. nor the names of its
nucho 1:098e75fd5ad2 18 * contributors may be used to endorse or promote prducts derived
nucho 1:098e75fd5ad2 19 * from this software without specific prior written permission.
nucho 1:098e75fd5ad2 20 *
nucho 1:098e75fd5ad2 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nucho 1:098e75fd5ad2 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nucho 1:098e75fd5ad2 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
nucho 1:098e75fd5ad2 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
nucho 1:098e75fd5ad2 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
nucho 1:098e75fd5ad2 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
nucho 1:098e75fd5ad2 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
nucho 1:098e75fd5ad2 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucho 1:098e75fd5ad2 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
nucho 1:098e75fd5ad2 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
nucho 1:098e75fd5ad2 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
nucho 1:098e75fd5ad2 32 * POSSIBILITY OF SUCH DAMAGE.
nucho 0:06fc856e99ca 33 */
nucho 0:06fc856e99ca 34
nucho 3:dff241b66f84 35 #ifndef _ROS_SERVICE_SERVER_H_
nucho 3:dff241b66f84 36 #define _ROS_SERVICE_SERVER_H_
nucho 0:06fc856e99ca 37
nucho 3:dff241b66f84 38 #include "rosserial_msgs/TopicInfo.h"
nucho 3:dff241b66f84 39
nucho 3:dff241b66f84 40 #include "publisher.h"
nucho 3:dff241b66f84 41 #include "subscriber.h"
nucho 0:06fc856e99ca 42
nucho 1:098e75fd5ad2 43 namespace ros {
nucho 1:098e75fd5ad2 44
nucho 3:dff241b66f84 45 template<typename MReq , typename MRes>
nucho 3:dff241b66f84 46 class ServiceServer : public Subscriber_ {
nucho 1:098e75fd5ad2 47 public:
nucho 3:dff241b66f84 48 typedef void(*CallbackT)(const MReq&, MRes&);
nucho 0:06fc856e99ca 49
nucho 3:dff241b66f84 50 ServiceServer(const char* topic_name, CallbackT cb) :
nucho 3:dff241b66f84 51 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
nucho 3:dff241b66f84 52 {
nucho 1:098e75fd5ad2 53 this->topic_ = topic_name;
nucho 1:098e75fd5ad2 54 this->cb_ = cb;
nucho 0:06fc856e99ca 55 }
nucho 0:06fc856e99ca 56
nucho 3:dff241b66f84 57 // these refer to the subscriber
nucho 3:dff241b66f84 58 virtual void callback(unsigned char *data){
nucho 3:dff241b66f84 59 req.deserialize(data);
nucho 3:dff241b66f84 60 cb_(req,resp);
nucho 3:dff241b66f84 61 pub.publish(&resp);
nucho 0:06fc856e99ca 62 }
nucho 3:dff241b66f84 63 virtual const char * getMsgType(){ return this->req.getType(); }
nucho 3:dff241b66f84 64 virtual const char * getMsgMD5(){ return this->req.getMD5(); }
nucho 3:dff241b66f84 65 virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
nucho 1:098e75fd5ad2 66
nucho 3:dff241b66f84 67 MReq req;
nucho 3:dff241b66f84 68 MRes resp;
nucho 3:dff241b66f84 69 Publisher pub;
nucho 1:098e75fd5ad2 70 private:
nucho 1:098e75fd5ad2 71 CallbackT cb_;
nucho 0:06fc856e99ca 72 };
nucho 1:098e75fd5ad2 73
nucho 0:06fc856e99ca 74 }
nucho 0:06fc856e99ca 75
nucho 1:098e75fd5ad2 76 #endif