CppServiceServer.java
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00035 // author: Jason Wolfe
00036 
00037 
00038 package ros.roscpp;
00039 
00040 import ros.RosException;
00041 import ros.ServiceServer;
00042 import ros.communication.Message;
00043 import ros.communication.Service;
00044 
00045 public class CppServiceServer<Q extends Message, A extends Message, S extends Service<Q, A> >  implements ServiceServer<Q, A, S> {
00046         private String name;
00047         private long cppCallback;
00048         private long cppServiceServer;
00049         
00050         private CppServiceServer() { }
00051         
00052         protected static <Q extends Message, A extends Message, S extends Service<Q, A> > CppServiceServer<Q,A,S> 
00053     create(long cppHandle, String name, S serviceTemplate,  Callback<Q, A> callback) throws RosException {
00054                 CppServiceServer<Q, A, S> that = new CppServiceServer<Q, A, S>();
00055                 that.name = name;
00056                 that.cppCallback = JNI.createSrvCallback(callback, serviceTemplate.getMD5Sum(), serviceTemplate.getDataType(), 
00057                                                                      serviceTemplate.createRequest(), serviceTemplate.createResponse());
00058                 if (that.cppCallback == 0) throw new RuntimeException("Could not create callback wrapper.");
00059                 that.cppServiceServer = JNI.advertiseService(cppHandle, name, that.cppCallback);
00060                 if (that.cppServiceServer == 0) {
00061                         JNI.deleteSrvCallback(that.cppCallback);
00062                         throw new RosException("Could not create service server " + name);
00063                 }
00064                 return that;
00065         }
00066 
00067         public String getService() {return name; }
00068         
00069         public boolean isValid() { return (cppServiceServer != 0) && JNI.isServiceServerValid(cppServiceServer); }
00070 
00071         public void shutdown() {
00072                 if (!isValid()) return;
00073                 JNI.shutdownServiceServer(cppServiceServer);
00074                 JNI.deleteSrvCallback(cppCallback);
00075                 cppServiceServer = 0;
00076         }
00077 }


rosjava_jni
Author(s): Maintained by Gheorghe Lisca (lisca@cs.uni-bremen.de) and developed by Jason Wolfe (jawolfe@willowgarage.com), Nicholas Butko (nbutko@cogsci.ucsd.edu), Lorenz Moesenlechner (moesenle@in.tum.de)
autogenerated on Sun Oct 5 2014 22:54:14