server.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef RVIZ_RPC_SERVER_H
#define RVIZ_RPC_SERVER_H

#include "exceptions.h"
#include "serializable_message.h"
#include "request_wrapper.h"
#include "response_wrapper.h"
#include "call_handle.h"

#include <rve_common/uuid.h>

#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include <boost/function.hpp>

#include <boost/type_traits/remove_const.hpp>
#include <boost/type_traits/is_const.hpp>

#include <ros/serialization.h>
#include <ros/message_event.h>

namespace ros
{
class NodeHandle;
class Publisher;
}

namespace rve_rpc
{

class CallbackHelper
{
public:
  virtual ~CallbackHelper() {}
  virtual void call(const ros::MessageEvent<RequestWrapper const>& incoming_event, const RespondFn& respond) = 0;

  virtual const char* getRequestMD5Sum() = 0;
  virtual const char* getRequestDataType() = 0;
  virtual const char* getRequestDefinition() = 0;
  virtual const char* getResponseMD5Sum() = 0;
  virtual const char* getResponseDataType() = 0;
  virtual const char* getResponseDefinition() = 0;
};
typedef boost::shared_ptr<CallbackHelper> CallbackHelperPtr;

template<typename Req, typename Res>
class CallbackHelperT : public CallbackHelper
{
public:
  typedef boost::shared_ptr<Req> ReqPtr;
  typedef boost::shared_ptr<Req const> ReqConstPtr;
  typedef ros::MessageEvent<Req const> ReqEvent;
  typedef boost::shared_ptr<Res> ResPtr;
  typedef boost::shared_ptr<Res const> ResConstPtr;
  typedef CallHandle<Req, Res> Handle;
  typedef boost::function<void(Handle&)> Callback;

  CallbackHelperT(const Callback& cb)
  : cb_(cb)
  {}

  virtual void call(const ros::MessageEvent<RequestWrapper const>& incoming_event, const RespondFn& respond_fn)
  {
    namespace ser = ros::serialization;

    ros::MessageEvent<Req const> evt(incoming_event.getMessage()->instantiate<Req>(), incoming_event.getConnectionHeaderPtr(),
                                     incoming_event.getReceiptTime(), incoming_event.getMessageWillCopy(),
                                     typename ros::MessageEvent<Req const>::CreateFunction());

    rve_common::UUID request_id = incoming_event.getMessage()->request_id;
    Handle handle(incoming_event.getMessage()->request_id, evt, respond_fn);

    try
    {
      cb_(handle);
    }
    catch (std::exception& e)
    {
      handle.except(e.what());

      ROS_ERROR("%s", e.what());
    }
  }

  virtual const char* getRequestMD5Sum() { return ros::message_traits::md5sum<Req>(); }
  virtual const char* getRequestDataType() { return ros::message_traits::datatype<Req>(); }
  virtual const char* getRequestDefinition() { return ros::message_traits::definition<Req>(); }
  virtual const char* getResponseMD5Sum() { return ros::message_traits::md5sum<Res>(); }
  virtual const char* getResponseDataType() { return ros::message_traits::md5sum<Res>(); }
  virtual const char* getResponseDefinition() { return ros::message_traits::md5sum<Res>(); }

private:
  Callback cb_;
};

class Server
{
public:
  Server(const std::string& name, const ros::NodeHandle& nh);

  template<typename Req, typename Res>
  void addMethod(const std::string& name, const boost::function<void(CallHandle<Req, Res>&)>& callback)
  {
    CallbackHelperPtr helper(new CallbackHelperT<Req, Res>(callback));
    addMethod(name, helper);
  }

  void addMethod(const std::string& name, const CallbackHelperPtr& helper);

  void ready();

private:
  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  ImplPtr impl_;
};
typedef boost::shared_ptr<Server> ServerPtr;

} // namespace rve_rpc

#endif // RVIZ_RPC_SERVER_H