service_server.h
Go to the documentation of this 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 #ifndef ROSCPP_SERVICE_HANDLE_H 00029 #define ROSCPP_SERVICE_HANDLE_H 00030 00031 #include "ros/forwards.h" 00032 #include "common.h" 00033 00034 namespace ros 00035 { 00036 00045 class ROSCPP_DECL ServiceServer 00046 { 00047 public: 00048 ServiceServer() {} 00049 ServiceServer(const ServiceServer& rhs); 00050 ~ServiceServer(); 00051 00061 void shutdown(); 00062 00063 std::string getService() const; 00064 00065 operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; } 00066 00067 bool operator<(const ServiceServer& rhs) const 00068 { 00069 return impl_ < rhs.impl_; 00070 } 00071 00072 bool operator==(const ServiceServer& rhs) const 00073 { 00074 return impl_ == rhs.impl_; 00075 } 00076 00077 bool operator!=(const ServiceServer& rhs) const 00078 { 00079 return impl_ != rhs.impl_; 00080 } 00081 00082 private: 00083 ServiceServer(const std::string& service, const NodeHandle& node_handle); 00084 00085 class Impl 00086 { 00087 public: 00088 Impl(); 00089 ~Impl(); 00090 00091 void unadvertise(); 00092 bool isValid() const; 00093 00094 std::string service_; 00095 NodeHandlePtr node_handle_; 00096 bool unadvertised_; 00097 }; 00098 typedef boost::shared_ptr<Impl> ImplPtr; 00099 typedef boost::weak_ptr<Impl> ImplWPtr; 00100 00101 ImplPtr impl_; 00102 00103 friend class NodeHandle; 00104 friend class NodeHandleBackingCollection; 00105 }; 00106 typedef std::vector<ServiceServer> V_ServiceServer; 00107 00108 } 00109 00110 #endif // ROSCPP_SERVICE_HANDLE_H 00111 00112