Diff: ros/service_server.h

Revision:

1:098e75fd5ad2

Parent:

0:06fc856e99ca

Child:

3:dff241b66f84

--- a/ros/service_server.h	Fri Aug 19 09:06:16 2011 +0000
+++ b/ros/service_server.h	Sun Oct 16 07:17:43 2011 +0000
@@ -1,54 +1,81 @@
-/*
- * service_server.h
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
  *
- *  Created on: Aug 5, 2011
- *      Author: astambler
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
  */
 
-
-#ifndef SERVICE_SERVER_H_
-#define SERVICE_SERVER_H_
-
+#ifndef ROS_SERVICE_SERVER_H_
+#define ROS_SERVICE_SERVER_H_
 
 #include "node_output.h"
 
-namespace ros{
-template<typename SrvRequest , typename SrvResponse>
+namespace ros {
+
+  template<typename SrvRequest , typename SrvResponse>
   class ServiceServer : MsgReceiver{
-  public:
+    public:
       typedef void(*CallbackT)(const SrvRequest&,  SrvResponse&);
 
-  private:
-      CallbackT cb_;
-
-  public:
       ServiceServer(const char* topic_name, CallbackT cb){
-          this->topic_ = topic_name;
-          this->cb_ = cb;
+        this->topic_ = topic_name;
+        this->cb_ = cb;
       }
 
       ServiceServer(ServiceServer& srv){
-          this->topic_ = srv.topic_;
-          this->cb_ = srv.cb_;
-      }
-      virtual void receive(unsigned char * data){
-          req.deserialize(data);
-          this->cb_(req, resp);
-          no_->publish(id_, &resp);
+        this->topic_ = srv.topic_;
+        this->cb_ = srv.cb_;
       }
 
-    virtual int _getType(){
+      virtual void receive(unsigned char * data){
+        req.deserialize(data);
+        this->cb_(req, resp);
+        no_->publish(id_, &resp);
+      }
+
+      virtual int _getType(){
         return 3;
-    }
-    virtual const char * getMsgType(){
+      }
+     
+      virtual const char * getMsgType(){
         return req.getType();
-    }
+      }
 
       SrvRequest req;
       SrvResponse resp;
       NodeOutput_ * no_;
 
+    private:
+      CallbackT cb_;
   };
+
 }
 
-#endif /* SERVICE_SERVER_H_ */
+#endif
\ No newline at end of file