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/* 
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 * Software License Agreement (BSD License)
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 *
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 * Copyright (c) 2011, Willow Garage, Inc.
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 * All rights reserved.
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 *
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions
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 * are met:
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 *
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 *  * Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer.
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 *  * Redistributions in binary form must reproduce the above
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 *    copyright notice, this list of conditions and the following
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 *    disclaimer in the documentation and/or other materials provided
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 *    with the distribution.
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 *  * Neither the name of Willow Garage, Inc. nor the names of its
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 *    contributors may be used to endorse or promote prducts derived
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 *    from this software without specific prior written permission.
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 *
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 * POSSIBILITY OF SUCH DAMAGE.
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 */
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#ifndef _ROS_SERVICE_SERVER_H_
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#define _ROS_SERVICE_SERVER_H_
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#include "rosserial_msgs/TopicInfo.h"
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#include "publisher.h"
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#include "subscriber.h"
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namespace ros {
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  template<typename MReq , typename MRes>
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  class ServiceServer : public Subscriber_ {
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    public:
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      typedef void(*CallbackT)(const MReq&,  MRes&);
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      ServiceServer(const char* topic_name, CallbackT cb) :
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        pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
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      {
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        this->topic_ = topic_name;
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        this->cb_ = cb;
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      }
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      // these refer to the subscriber
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      virtual void callback(unsigned char *data){
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        req.deserialize(data);
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        cb_(req,resp);
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        pub.publish(&resp);
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      }
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      virtual const char * getMsgType(){ return this->req.getType(); }
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      virtual const char * getMsgMD5(){ return this->req.getMD5(); }
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      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
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      MReq req;
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      MRes resp;
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      Publisher pub;
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    private:
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      CallbackT cb_;
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  };
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}
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#endif