$search
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 // author: Jason Wolfe 00036 00037 00038 package ros.roscpp; 00039 00040 import ros.RosException; 00041 import ros.ServiceServer; 00042 import ros.communication.Message; 00043 import ros.communication.Service; 00044 00045 public class CppServiceServer<Q extends Message, A extends Message, S extends Service<Q, A> > implements ServiceServer<Q, A, S> { 00046 private String name; 00047 private long cppCallback; 00048 private long cppServiceServer; 00049 00050 private CppServiceServer() { } 00051 00052 protected static <Q extends Message, A extends Message, S extends Service<Q, A> > CppServiceServer<Q,A,S> 00053 create(long cppHandle, String name, S serviceTemplate, Callback<Q, A> callback) throws RosException { 00054 CppServiceServer<Q, A, S> that = new CppServiceServer<Q, A, S>(); 00055 that.name = name; 00056 that.cppCallback = JNI.createSrvCallback(callback, serviceTemplate.getMD5Sum(), serviceTemplate.getDataType(), 00057 serviceTemplate.createRequest(), serviceTemplate.createResponse()); 00058 if (that.cppCallback == 0) throw new RuntimeException("Could not create callback wrapper."); 00059 that.cppServiceServer = JNI.advertiseService(cppHandle, name, that.cppCallback); 00060 if (that.cppServiceServer == 0) { 00061 JNI.deleteSrvCallback(that.cppCallback); 00062 throw new RosException("Could not create service server " + name); 00063 } 00064 return that; 00065 } 00066 00067 public String getService() {return name; } 00068 00069 public boolean isValid() { return (cppServiceServer != 0) && JNI.isServiceServerValid(cppServiceServer); } 00070 00071 public void shutdown() { 00072 if (!isValid()) return; 00073 JNI.shutdownServiceServer(cppServiceServer); 00074 JNI.deleteSrvCallback(cppCallback); 00075 cppServiceServer = 0; 00076 } 00077 }