CppServiceServer.java

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// author: Jason Wolfe


package ros.roscpp;

import ros.RosException;
import ros.ServiceServer;
import ros.communication.Message;
import ros.communication.Service;

public class CppServiceServer<Q extends Message, A extends Message, S extends Service<Q, A> >  implements ServiceServer<Q, A, S> {
        private String name;
        private long cppCallback;
        private long cppServiceServer;
        
        private CppServiceServer() { }
        
        protected static <Q extends Message, A extends Message, S extends Service<Q, A> > CppServiceServer<Q,A,S> 
    create(long cppHandle, String name, S serviceTemplate,  Callback<Q, A> callback) throws RosException {
                CppServiceServer<Q, A, S> that = new CppServiceServer<Q, A, S>();
                that.name = name;
                that.cppCallback = JNI.createSrvCallback(callback, serviceTemplate.getMD5Sum(), serviceTemplate.getDataType(), 
                                                                     serviceTemplate.createRequest(), serviceTemplate.createResponse());
                if (that.cppCallback == 0) throw new RuntimeException("Could not create callback wrapper.");
                that.cppServiceServer = JNI.advertiseService(cppHandle, name, that.cppCallback);
                if (that.cppServiceServer == 0) {
                        JNI.deleteSrvCallback(that.cppCallback);
                        throw new RosException("Could not create service server " + name);
                }
                return that;
        }

        public String getService() {return name; }
        
        public boolean isValid() { return (cppServiceServer != 0) && JNI.isServiceServerValid(cppServiceServer); }

        public void shutdown() {
                if (!isValid()) return;
                JNI.shutdownServiceServer(cppServiceServer);
                JNI.deleteSrvCallback(cppCallback);
                cppServiceServer = 0;
        }
}