File content as of revision 1:098e75fd5ad2:

/* 
 * 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:
 *
 *  * 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
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef ROS_SERVICE_SERVER_H_
#define ROS_SERVICE_SERVER_H_

#include "node_output.h"

namespace ros {

  template<typename SrvRequest , typename SrvResponse>
  class ServiceServer : MsgReceiver{
    public:
      typedef void(*CallbackT)(const SrvRequest&,  SrvResponse&);

      ServiceServer(const char* topic_name, CallbackT 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);
      }

      virtual int _getType(){
        return 3;
      }
     
      virtual const char * getMsgType(){
        return req.getType();
      }

      SrvRequest req;
      SrvResponse resp;
      NodeOutput_ * no_;

    private:
      CallbackT cb_;
  };

}

#endif