add_two_ints_server_class.cpp
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00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and 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/ros.h"
00029 #include "roscpp_tutorials/TwoInts.h"
00030 
00031 // %Tag(CLASS_DECLARATION)%
00032 class AddTwo
00033 {
00034 public:
00035   bool add(roscpp_tutorials::TwoInts::Request& req,
00036            roscpp_tutorials::TwoInts::Response& res);
00037 };
00038 // %EndTag(CLASS_DECLARATION)%
00039 
00040 bool AddTwo::add(roscpp_tutorials::TwoInts::Request& req,
00041                  roscpp_tutorials::TwoInts::Response& res)
00042 {
00043   res.sum = req.a + req.b;
00044   ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
00045   ROS_INFO("  sending back response: [%ld]", (long int)res.sum);
00046   return true;
00047 }
00048 
00049 int main(int argc, char **argv)
00050 {
00051   ros::init(argc, argv, "add_two_ints_server");
00052   ros::NodeHandle n;
00053 
00054 // %Tag(SERVICE_SERVER)%
00055   AddTwo a;
00056   ros::ServiceServer ss = n.advertiseService("add_two_ints", &AddTwo::add, &a);
00057 // %EndTag(SERVICE_SERVER)%
00058 
00059   ros::spin();
00060 
00061   return 0;
00062 }
00063 


roscpp_tutorials
Author(s): Morgan Quigley
autogenerated on Mon Oct 6 2014 06:54:46