service_server.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTIONLIB_SERVER_SERVICE_SERVER_H_ 00038 #define ACTIONLIB_SERVER_SERVICE_SERVER_H_ 00039 00040 #include <actionlib/action_definition.h> 00041 #include <actionlib/server/action_server.h> 00042 00043 namespace actionlib { 00044 class ServiceServerImp { 00045 public: 00046 ServiceServerImp(){} 00047 virtual ~ServiceServerImp(){} 00048 }; 00049 00050 class ServiceServer { 00051 public: 00052 ServiceServer(boost::shared_ptr<ServiceServerImp> server) : server_(server) {} 00053 00054 private: 00055 boost::shared_ptr<ServiceServerImp> server_; 00056 }; 00057 00058 template <class ActionSpec> 00059 ServiceServer advertiseService(ros::NodeHandle n, std::string name, 00060 boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&, 00061 typename ActionSpec::_action_result_type::_result_type& result)> service_cb); 00062 00063 template <class ActionSpec> 00064 class ServiceServerImpT : public ServiceServerImp { 00065 public: 00066 //generates typedefs that we'll use to make our lives easier 00067 ACTION_DEFINITION(ActionSpec); 00068 00069 typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle; 00070 00071 ServiceServerImpT(ros::NodeHandle n, std::string name, 00072 boost::function<bool (const Goal&, Result& result)> service_cb); 00073 void goalCB(GoalHandle g); 00074 00075 private: 00076 boost::shared_ptr<ActionServer<ActionSpec> > as_; 00077 boost::function<bool (const Goal&, Result& result)> service_cb_; 00078 }; 00079 }; 00080 00081 //include the implementation 00082 #include <actionlib/server/service_server_imp.h> 00083 #endif