service_server.cpp
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27 
28 #include "ros/service_server.h"
29 #include "ros/node_handle.h"
30 #include "ros/service_manager.h"
31 
32 namespace ros
33 {
34 
35 ServiceServer::Impl::Impl() : unadvertised_(false) { }
36 
38 {
39  ROS_DEBUG("ServiceServer on '%s' deregistering callbacks.", service_.c_str());
40  unadvertise();
41 }
42 
44 {
45  return !unadvertised_;
46 }
47 
49 {
50  if (!unadvertised_)
51  {
52  unadvertised_ = true;
53  ServiceManager::instance()->unadvertiseService(service_);
54  node_handle_.reset();
55  }
56 }
57 
58 ServiceServer::ServiceServer(const std::string& service, const NodeHandle& node_handle)
59 : impl_(boost::make_shared<Impl>())
60 {
61  impl_->service_ = service;
62  impl_->node_handle_ = boost::make_shared<NodeHandle>(node_handle);
63 }
64 
66 {
67  impl_ = rhs.impl_;
68 }
69 
71 {
72 }
73 
75 {
76  if (impl_)
77  {
78  impl_->unadvertise();
79  }
80 }
81 
82 std::string ServiceServer::getService() const
83 {
84  if (impl_ && impl_->isValid())
85  {
86  return impl_->service_;
87  }
88 
89  return std::string();
90 }
91 
92 } // namespace ros
service_server.h
ros
service_manager.h
boost
ros::ServiceManager::instance
static const ServiceManagerPtr & instance()
Definition: service_manager.cpp:55
ros::ServiceServer::Impl
Definition: service_server.h:86
ros::ServiceServer::~ServiceServer
~ServiceServer()
Definition: service_server.cpp:70
ROS_DEBUG
#define ROS_DEBUG(...)
ros::ServiceServer::ServiceServer
ServiceServer()
Definition: service_server.h:48
ros::NodeHandle
roscpp's interface for creating subscribers, publishers, etc.
Definition: node_handle.h:87
ros::ServiceServer::getService
std::string getService() const
Definition: service_server.cpp:82
ros::ServiceServer::impl_
ImplPtr impl_
Definition: service_server.h:102
ros::ServiceServer::shutdown
void shutdown()
Unadvertise the service associated with this ServiceServer.
Definition: service_server.cpp:74
ros::ServiceServer
Manages an service advertisement.
Definition: service_server.h:45
ros::ServiceServer::Impl::unadvertise
void unadvertise()
Definition: service_server.cpp:48
ros::ServiceServer::Impl::~Impl
~Impl()
Definition: service_server.cpp:37
ros::ServiceServer::Impl::isValid
bool isValid() const
Definition: service_server.cpp:43
node_handle.h
ros::ServiceServer::Impl::Impl
Impl()
Definition: service_server.cpp:35


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim, Dirk Thomas
autogenerated on Sat Oct 17 2020 19:28:47