service_server.cpp
Go to the documentation of this file.00001 /****************************************************************************** 00002 * \file 00003 * 00004 * $Id: but_service_server.cpp 556 2012-04-11 16:10:40Z xlokaj03 $ 00005 * 00006 * Copyright (C) Brno University of Technology 00007 * 00008 * This file is part of software developed by dcgm-robotics@FIT group. 00009 * 00010 * Author: Tomas Lokaj (xlokaj03@stud.fit.vutbr.cz) 00011 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz) 00012 * Date: 18/02/2012 00013 * 00014 * This file is free software: you can redistribute it and/or modify 00015 * it under the terms of the GNU Lesser General Public License as published by 00016 * the Free Software Foundation, either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This file is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU Lesser General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU Lesser General Public License 00025 * along with this file. If not, see <http://www.gnu.org/licenses/>. 00026 */ 00027 00028 #include <srs_ui_but/but_services/service_server.h> 00029 00030 namespace srs_ui_but 00031 { 00032 00033 // Point cloud data handler 00034 srs_ui_but::PointCloudTools * pcTools; 00035 00036 bool getClosestPoint(GetClosestPoint::Request &req, GetClosestPoint::Response &res) 00037 { 00038 ROS_INFO("Getting closest point"); 00039 00040 res.closest_point_data = pcTools->getClosestPoint(req.link); 00041 res.topic = pcTools->getPointCloudTopic(); 00042 00043 if (!res.closest_point_data.status) 00044 { 00045 ROS_WARN("Cannot get closest point!"); 00046 return false; 00047 } 00048 00049 ROS_INFO("..... DONE"); 00050 return true; 00051 } 00052 00053 bool setPointCloudTopic(SetPointCloudTopic::Request &req, SetPointCloudTopic::Response &res) 00054 { 00055 ROS_INFO("Setting point cloud topic to: %s", req.topic.c_str()); 00056 00057 pcTools->setPointCloudTopic(req.topic); 00058 00059 ROS_INFO("..... DONE"); 00060 return true; 00061 } 00062 00063 } 00064 00065 /* 00066 * Main function 00067 */ 00068 int main(int argc, char **argv) 00069 { 00070 00071 // ROS initialization (the last argument is the name of the node) 00072 ros::init(argc, argv, "but_service_server"); 00073 00074 // NodeHandle is the main access point to communications with the ROS system 00075 ros::NodeHandle n; 00076 00077 // Point Cloud data handler 00078 srs_ui_but::pcTools = new srs_ui_but::PointCloudTools(); 00079 00080 // Create and advertise this service over ROS 00081 ros::ServiceServer getClosestPointService = n.advertiseService(srs_ui_but::GetClosestPoint_SRV, srs_ui_but::getClosestPoint); 00082 ros::ServiceServer setPointCloudTopicService = n.advertiseService(srs_ui_but::SetPointCloudTopic_SRV, srs_ui_but::setPointCloudTopic); 00083 00084 ROS_INFO("BUT Service Server ready!"); 00085 00086 // Enters a loop, calling message callbacks 00087 ros::spin(); 00088 00089 return 0; 00090 }