service_server_imp.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_IMP_H_ 00038 #define ACTIONLIB_SERVER_SERVICE_SERVER_IMP_H_ 00039 namespace actionlib { 00040 template <class ActionSpec> 00041 ServiceServer advertiseService(ros::NodeHandle n, std::string name, 00042 boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&, 00043 typename ActionSpec::_action_result_type::_result_type& result)> service_cb) 00044 { 00045 boost::shared_ptr<ServiceServerImp> server_ptr(new ServiceServerImpT<ActionSpec>(n, name, service_cb)); 00046 return ServiceServer(server_ptr); 00047 } 00048 00049 template <class ActionSpec> 00050 ServiceServerImpT<ActionSpec>::ServiceServerImpT(ros::NodeHandle n, std::string name, 00051 boost::function<bool (const Goal&, Result& result)> service_cb) 00052 : service_cb_(service_cb) 00053 { 00054 as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name, 00055 boost::bind(&ServiceServerImpT::goalCB, this, _1), false)); 00056 as_->start(); 00057 } 00058 00059 template <class ActionSpec> 00060 void ServiceServerImpT<ActionSpec>::goalCB(GoalHandle goal){ 00061 goal.setAccepted("This goal has been accepted by the service server"); 00062 00063 //we need to pass the result into the users callback 00064 Result r; 00065 if(service_cb_(*(goal.getGoal()), r)) 00066 goal.setSucceeded(r, "The service server successfully processed the request"); 00067 else 00068 goal.setAborted(r, "The service server failed to process the request"); 00069 } 00070 }; 00071 #endif