ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

ros/service_server.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 /*
garyservin 0:fd24f7ca9688 2 * Software License Agreement (BSD License)
garyservin 0:fd24f7ca9688 3 *
garyservin 0:fd24f7ca9688 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:fd24f7ca9688 5 * All rights reserved.
garyservin 0:fd24f7ca9688 6 *
garyservin 0:fd24f7ca9688 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:fd24f7ca9688 8 * modification, are permitted provided that the following conditions
garyservin 0:fd24f7ca9688 9 * are met:
garyservin 0:fd24f7ca9688 10 *
garyservin 0:fd24f7ca9688 11 * * Redistributions of source code must retain the above copyright
garyservin 0:fd24f7ca9688 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:fd24f7ca9688 13 * * Redistributions in binary form must reproduce the above
garyservin 0:fd24f7ca9688 14 * copyright notice, this list of conditions and the following
garyservin 0:fd24f7ca9688 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:fd24f7ca9688 16 * with the distribution.
garyservin 0:fd24f7ca9688 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:fd24f7ca9688 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:fd24f7ca9688 19 * from this software without specific prior written permission.
garyservin 0:fd24f7ca9688 20 *
garyservin 0:fd24f7ca9688 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:fd24f7ca9688 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:fd24f7ca9688 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:fd24f7ca9688 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:fd24f7ca9688 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:fd24f7ca9688 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:fd24f7ca9688 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:fd24f7ca9688 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:fd24f7ca9688 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:fd24f7ca9688 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:fd24f7ca9688 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:fd24f7ca9688 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:fd24f7ca9688 33 */
garyservin 0:fd24f7ca9688 34
garyservin 0:fd24f7ca9688 35 #ifndef _ROS_SERVICE_SERVER_H_
garyservin 0:fd24f7ca9688 36 #define _ROS_SERVICE_SERVER_H_
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 #include "rosserial_msgs/TopicInfo.h"
garyservin 0:fd24f7ca9688 39
garyservin 0:fd24f7ca9688 40 #include "publisher.h"
garyservin 0:fd24f7ca9688 41 #include "subscriber.h"
garyservin 0:fd24f7ca9688 42
garyservin 0:fd24f7ca9688 43 namespace ros {
garyservin 0:fd24f7ca9688 44
garyservin 0:fd24f7ca9688 45 template<typename MReq , typename MRes>
garyservin 0:fd24f7ca9688 46 class ServiceServer : public Subscriber_ {
garyservin 0:fd24f7ca9688 47 public:
garyservin 0:fd24f7ca9688 48 typedef void(*CallbackT)(const MReq&, MRes&);
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 ServiceServer(const char* topic_name, CallbackT cb) :
garyservin 0:fd24f7ca9688 51 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
garyservin 0:fd24f7ca9688 52 {
garyservin 0:fd24f7ca9688 53 this->topic_ = topic_name;
garyservin 0:fd24f7ca9688 54 this->cb_ = cb;
garyservin 0:fd24f7ca9688 55 }
garyservin 0:fd24f7ca9688 56
garyservin 0:fd24f7ca9688 57 // these refer to the subscriber
garyservin 0:fd24f7ca9688 58 virtual void callback(unsigned char *data){
garyservin 0:fd24f7ca9688 59 req.deserialize(data);
garyservin 0:fd24f7ca9688 60 cb_(req,resp);
garyservin 0:fd24f7ca9688 61 pub.publish(&resp);
garyservin 0:fd24f7ca9688 62 }
garyservin 0:fd24f7ca9688 63 virtual const char * getMsgType(){ return this->req.getType(); }
garyservin 0:fd24f7ca9688 64 virtual const char * getMsgMD5(){ return this->req.getMD5(); }
garyservin 0:fd24f7ca9688 65 virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
garyservin 0:fd24f7ca9688 66
garyservin 0:fd24f7ca9688 67 MReq req;
garyservin 0:fd24f7ca9688 68 MRes resp;
garyservin 0:fd24f7ca9688 69 Publisher pub;
garyservin 0:fd24f7ca9688 70 private:
garyservin 0:fd24f7ca9688 71 CallbackT cb_;
garyservin 0:fd24f7ca9688 72 };
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 }
garyservin 0:fd24f7ca9688 75
garyservin 0:fd24f7ca9688 76 #endif