Diff: ros/service_server.h

Revision:

0:77afd7560544

Child:

1:ff0ec969dad1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/service_server.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,54 @@
+/*
+ * service_server.h
+ *
+ *  Created on: Aug 5, 2011
+ *      Author: astambler
+ */
+
+
+#ifndef SERVICE_SERVER_H_
+#define SERVICE_SERVER_H_
+
+
+#include "node_output.h"
+
+namespace ros{
+template<typename SrvRequest , typename SrvResponse>
+  class ServiceServer : MsgReceiver{
+  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;
+      }
+
+      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_;
+
+  };
+}
+
+#endif /* SERVICE_SERVER_H_ */