This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
Diff: ros/service_server.h
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
diff -r 77afd7560544 -r ff0ec969dad1 ros/service_server.h --- a/ros/service_server.h Fri Aug 19 09:06:30 2011 +0000 +++ b/ros/service_server.h Sun Oct 16 07:19:36 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