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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 /* Author: Brian Gerkey */ 00031 00032 /* 00033 * Advertise a service 00034 */ 00035 00036 #include "ros/ros.h" 00037 #include <test_roscpp/TestStringString.h> 00038 00039 bool caseFlip(test_roscpp::TestStringString::Request &req, 00040 test_roscpp::TestStringString::Response &res) 00041 { 00042 // copy over the request and overwrite the letters with their case-flip 00043 res.str = req.str; 00044 for (size_t i = 0; i < res.str.length(); i++) 00045 { 00046 char c = res.str[i]; 00047 if (islower(c)) 00048 c = toupper(c); 00049 else if (isupper(c)) 00050 c = tolower(c); 00051 res.str[i] = c; 00052 } 00053 return true; 00054 } 00055 00056 bool caseFlipLongRunning(test_roscpp::TestStringString::Request &req, 00057 test_roscpp::TestStringString::Response &res) 00058 { 00059 caseFlip(req, res); 00060 00061 ros::Duration(2).sleep(); 00062 return true; 00063 } 00064 00065 bool caseFlipUnadvertise(test_roscpp::TestStringString::Request &req, 00066 test_roscpp::TestStringString::Response &res, ros::ServiceServer& srv) 00067 { 00068 caseFlip(req, res); 00069 00070 srv.shutdown(); 00071 00072 ros::Duration(2).sleep(); 00073 return true; 00074 } 00075 00076 00077 int 00078 main(int argc, char** argv) 00079 { 00080 ros::init(argc, argv, "service_adv"); 00081 ros::NodeHandle nh; 00082 00083 ros::ServiceServer srv1, srv2, srv3; 00084 srv1 = nh.advertiseService("service_adv", caseFlip); 00085 srv2 = nh.advertiseService("service_adv_long", caseFlipLongRunning); 00086 srv3 = nh.advertiseService<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response>("service_adv_unadv_in_callback", boost::bind(caseFlipUnadvertise, _1, _2, boost::ref(srv3))); 00087 ros::spin(); 00088 } 00089