File content as of revision 2:af816ffd33df:

/* 
 * 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
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 *
 *  * 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
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 *    with the distribution.
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 *    contributors may be used to endorse or promote prducts derived
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef _ROS_SERVICE_SERVER_H_
#define _ROS_SERVICE_SERVER_H_

#include "rosserial_msgs/TopicInfo.h"

#include "ros/publisher.h"
#include "ros/subscriber.h"

namespace ros {

  template<typename MReq , typename MRes>
  class ServiceServer : public Subscriber_ {
    public:
      typedef void(*CallbackT)(const MReq&,  MRes&);

      ServiceServer(const char* topic_name, CallbackT cb) :
        pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
      {
        this->topic_ = topic_name;
        this->cb_ = cb;
      }

      // these refer to the subscriber
      virtual void callback(unsigned char *data){
        req.deserialize(data);
        cb_(req,resp);
        pub.publish(&resp);
      }
      virtual const char * getMsgType(){ return this->req.getType(); }
      virtual const char * getMsgMD5(){ return this->req.getMD5(); }
      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }

      MReq req;
      MRes resp;
      Publisher pub;
    private:
      CallbackT cb_;
  };

}

#endif