00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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 prducts 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 #ifndef _ROS_SERVICE_SERVER_H_ 00036 #define _ROS_SERVICE_SERVER_H_ 00037 00038 #include "rosserial_msgs/TopicInfo.h" 00039 00040 #include "publisher.h" 00041 #include "subscriber.h" 00042 00043 namespace ros { 00044 00045 template<typename MReq , typename MRes> 00046 class ServiceServer : public Subscriber_ { 00047 public: 00048 typedef void(*CallbackT)(const MReq&, MRes&); 00049 00050 ServiceServer(const char* topic_name, CallbackT cb) : 00051 pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER) 00052 { 00053 this->topic_ = topic_name; 00054 this->cb_ = cb; 00055 } 00056 00057 // these refer to the subscriber 00058 virtual void callback(unsigned char *data){ 00059 req.deserialize(data); 00060 cb_(req,resp); 00061 pub.publish(&resp); 00062 } 00063 virtual const char * getMsgType(){ return this->req.getType(); } 00064 virtual const char * getMsgMD5(){ return this->req.getMD5(); } 00065 virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; } 00066 00067 MReq req; 00068 MRes resp; 00069 Publisher pub; 00070 private: 00071 CallbackT cb_; 00072 }; 00073 00074 } 00075 00076 #endif