service_server.h

00001 /*
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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