roscpp: roscpp: service_server.cpp Source File

00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "ros/service_server.h"
00029 #include "ros/node_handle.h"
00030 #include "ros/service_manager.h"
00031 
00032 namespace ros
00033 {
00034 
00035 ServiceServer::Impl::Impl() : unadvertised_(false) { }
00036 
00037 ServiceServer::Impl::~Impl()
00038 {
00039   ROS_DEBUG("ServiceServer on '%s' deregistering callbacks.", service_.c_str());
00040   unadvertise();
00041 }
00042 
00043 bool ServiceServer::Impl::isValid() const
00044 {
00045   return !unadvertised_;
00046 }
00047 
00048 void ServiceServer::Impl::unadvertise()
00049 {
00050   if (!unadvertised_)
00051   {
00052     unadvertised_ = true;
00053     ServiceManager::instance()->unadvertiseService(service_);
00054     node_handle_.reset();
00055   }
00056 }
00057 
00058 ServiceServer::ServiceServer(const std::string& service, const NodeHandle& node_handle)
00059 : impl_(new Impl)
00060 {
00061   impl_->service_ = service;
00062   impl_->node_handle_ = NodeHandlePtr(new NodeHandle(node_handle));
00063 }
00064 
00065 ServiceServer::ServiceServer(const ServiceServer& rhs)
00066 {
00067   impl_ = rhs.impl_;
00068 }
00069 
00070 ServiceServer::~ServiceServer()
00071 {
00072 }
00073 
00074 void ServiceServer::shutdown()
00075 {
00076   if (impl_)
00077   {
00078     impl_->unadvertise();
00079   }
00080 }
00081 
00082 std::string ServiceServer::getService() const
00083 {
00084   if (impl_ && impl_->isValid())
00085   {
00086     return impl_->service_;
00087   }
00088 
00089   return std::string();
00090 }
00091 
00092 } // namespace ros