root / quad2 / arduino / src / ros_lib / ros / service_server.h @ c1426757
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1 | c1426757 | Tom Mullins | /*
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2 | * Software License Agreement (BSD License)
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3 | *
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4 | * Copyright (c) 2011, Willow Garage, Inc.
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5 | * All rights reserved.
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6 | *
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7 | * Redistribution and use in source and binary forms, with or without
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8 | * modification, are permitted provided that the following conditions
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9 | * are met:
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10 | *
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11 | * * Redistributions of source code must retain the above copyright
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12 | * notice, this list of conditions and the following disclaimer.
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13 | * * Redistributions in binary form must reproduce the above
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14 | * copyright notice, this list of conditions and the following
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15 | * disclaimer in the documentation and/or other materials provided
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16 | * with the distribution.
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17 | * * Neither the name of Willow Garage, Inc. nor the names of its
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18 | * contributors may be used to endorse or promote prducts derived
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19 | * from this software without specific prior written permission.
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20 | *
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21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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32 | * POSSIBILITY OF SUCH DAMAGE.
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33 | */
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34 | |||
35 | #ifndef _ROS_SERVICE_SERVER_H_
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36 | #define _ROS_SERVICE_SERVER_H_
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37 | |||
38 | #include "rosserial_msgs/TopicInfo.h" |
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39 | |||
40 | #include "publisher.h" |
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41 | #include "subscriber.h" |
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42 | |||
43 | namespace ros { |
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44 | |||
45 | template<typename MReq , typename MRes> |
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46 | class ServiceServer : public Subscriber_ { |
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47 | public:
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48 | typedef void(*CallbackT)(const MReq&, MRes&); |
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49 | |||
50 | ServiceServer(const char* topic_name, CallbackT cb) : |
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51 | pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER) |
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52 | { |
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53 | this->topic_ = topic_name; |
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54 | this->cb_ = cb; |
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55 | } |
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56 | |||
57 | // these refer to the subscriber
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58 | virtual void callback(unsigned char *data){ |
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59 | req.deserialize(data); |
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60 | cb_(req,resp); |
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61 | pub.publish(&resp); |
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62 | } |
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63 | virtual const char * getMsgType(){ return this->req.getType(); } |
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64 | virtual const char * getMsgMD5(){ return this->req.getMD5(); } |
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65 | virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; } |
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66 | |||
67 | MReq req; |
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68 | MRes resp; |
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69 | Publisher pub; |
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70 | private:
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71 | CallbackT cb_; |
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72 | }; |
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73 | |||
74 | } |
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75 | |||
76 | #endif |