Quadrotor

/* 

 * Software License Agreement (BSD License)

 *

 * Copyright (c) 2011, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions

 * are met:

 *

 *  * Redistributions of source code must retain the above copyright

 *    notice, this list of conditions and the following disclaimer.

 *  * Redistributions in binary form must reproduce the above

 *    copyright notice, this list of conditions and the following

 *    disclaimer in the documentation and/or other materials provided

 *    with the distribution.

 *  * Neither the name of Willow Garage, Inc. nor the names of its

 *    contributors may be used to endorse or promote prducts derived

 *    from this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

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 */

#ifndef _ROS_SERVICE_SERVER_H_

#define _ROS_SERVICE_SERVER_H_

#include "rosserial_msgs/TopicInfo.h"

#include "publisher.h"

#include "subscriber.h"

namespace ros {

  template<typename MReq , typename MRes>

  class ServiceServer : public Subscriber_ {

    public:

      typedef void(*CallbackT)(const MReq&,  MRes&);

      ServiceServer(const char* topic_name, CallbackT cb) :

        pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)

      {

        this->topic_ = topic_name;

        this->cb_ = cb;

      }

      // these refer to the subscriber

      virtual void callback(unsigned char *data){

        req.deserialize(data);

        cb_(req,resp);

        pub.publish(&resp);

      }

      virtual const char * getMsgType(){ return this->req.getType(); }

      virtual const char * getMsgMD5(){ return this->req.getMD5(); }

      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }

      MReq req;

      MRes resp;

      Publisher pub;

    private:

      CallbackT cb_;

  };

}

#endif