Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
service_server.h
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef _ROS_SERVICE_SERVER_H_ 00036 #define _ROS_SERVICE_SERVER_H_ 00037 00038 #include "rosserial_msgs/TopicInfo.h" 00039 00040 #include "ros/publisher.h" 00041 #include "ros/subscriber.h" 00042 00043 namespace ros 00044 { 00045 00046 template<typename MReq , typename MRes, typename ObjT = void> 00047 class ServiceServer : public Subscriber_ 00048 { 00049 public: 00050 typedef void(ObjT::*CallbackT)(const MReq&, MRes&); 00051 00052 ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) : 00053 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER), 00054 obj_(obj) 00055 { 00056 this->topic_ = topic_name; 00057 this->cb_ = cb; 00058 } 00059 00060 // these refer to the subscriber 00061 virtual void callback(unsigned char *data) 00062 { 00063 req.deserialize(data); 00064 (obj_->*cb_)(req, resp); 00065 pub.publish(&resp); 00066 } 00067 virtual const char * getMsgType() 00068 { 00069 return this->req.getType(); 00070 } 00071 virtual const char * getMsgMD5() 00072 { 00073 return this->req.getMD5(); 00074 } 00075 virtual int getEndpointType() 00076 { 00077 return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; 00078 } 00079 00080 MReq req; 00081 MRes resp; 00082 Publisher pub; 00083 private: 00084 CallbackT cb_; 00085 ObjT* obj_; 00086 }; 00087 00088 template<typename MReq , typename MRes> 00089 class ServiceServer<MReq, MRes, void> : public Subscriber_ 00090 { 00091 public: 00092 typedef void(*CallbackT)(const MReq&, MRes&); 00093 00094 ServiceServer(const char* topic_name, CallbackT cb) : 00095 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER) 00096 { 00097 this->topic_ = topic_name; 00098 this->cb_ = cb; 00099 } 00100 00101 // these refer to the subscriber 00102 virtual void callback(unsigned char *data) 00103 { 00104 req.deserialize(data); 00105 cb_(req, resp); 00106 pub.publish(&resp); 00107 } 00108 virtual const char * getMsgType() 00109 { 00110 return this->req.getType(); 00111 } 00112 virtual const char * getMsgMD5() 00113 { 00114 return this->req.getMD5(); 00115 } 00116 virtual int getEndpointType() 00117 { 00118 return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; 00119 } 00120 00121 MReq req; 00122 MRes resp; 00123 Publisher pub; 00124 private: 00125 CallbackT cb_; 00126 }; 00127 00128 } 00129 00130 #endif
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