00001 /* 00002 * Copyright (C) 2009, 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/service_server.h" 00029 #include "ros/node_handle.h" 00030 #include "ros/service_manager.h" 00031 00032 namespace ros 00033 { 00034 00035 ServiceServer::Impl::Impl() : unadvertised_(false) { } 00036 00037 ServiceServer::Impl::~Impl() 00038 { 00039 ROS_DEBUG("ServiceServer on '%s' deregistering callbacks.", service_.c_str()); 00040 unadvertise(); 00041 } 00042 00043 bool ServiceServer::Impl::isValid() const 00044 { 00045 return !unadvertised_; 00046 } 00047 00048 void ServiceServer::Impl::unadvertise() 00049 { 00050 if (!unadvertised_) 00051 { 00052 unadvertised_ = true; 00053 ServiceManager::instance()->unadvertiseService(service_); 00054 node_handle_.reset(); 00055 } 00056 } 00057 00058 ServiceServer::ServiceServer(const std::string& service, const NodeHandle& node_handle) 00059 : impl_(new Impl) 00060 { 00061 impl_->service_ = service; 00062 impl_->node_handle_ = NodeHandlePtr(new NodeHandle(node_handle)); 00063 } 00064 00065 ServiceServer::ServiceServer(const ServiceServer& rhs) 00066 { 00067 impl_ = rhs.impl_; 00068 } 00069 00070 ServiceServer::~ServiceServer() 00071 { 00072 } 00073 00074 void ServiceServer::shutdown() 00075 { 00076 if (impl_) 00077 { 00078 impl_->unadvertise(); 00079 } 00080 } 00081 00082 std::string ServiceServer::getService() const 00083 { 00084 if (impl_ && impl_->isValid()) 00085 { 00086 return impl_->service_; 00087 } 00088 00089 return std::string(); 00090 } 00091 00092 } // namespace ros