root / scout_avr / src / ros_lib / ros / service_server.h @ 88fb3a79
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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
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