service_server.h

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#ifndef _ROS_SERVICE_SERVER_H_
#define _ROS_SERVICE_SERVER_H_

#include "rosserial_msgs/TopicInfo.h"

#include "ros/publisher.h"
#include "ros/subscriber.h"

namespace ros {

  template<typename MReq , typename MRes, typename ObjT=void>
  class ServiceServer : public Subscriber_ {
    public:
      typedef void(ObjT::*CallbackT)(const MReq&,  MRes&);

      ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) :
        pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER),
        obj_(obj)
      {
        this->topic_ = topic_name;
        this->cb_ = cb;
      }

      // these refer to the subscriber
      virtual void callback(unsigned char *data){
        req.deserialize(data);
        (obj_->*cb_)(req,resp);
        pub.publish(&resp);
      }
      virtual const char * getMsgType(){ return this->req.getType(); }
      virtual const char * getMsgMD5(){ return this->req.getMD5(); }
      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }

      MReq req;
      MRes resp;
      Publisher pub;
    private:
      CallbackT cb_;
      ObjT* obj_;
  };

  template<typename MReq , typename MRes>
  class ServiceServer<MReq, MRes, void> : public Subscriber_ {
    public:
      typedef void(*CallbackT)(const MReq&,  MRes&);

      ServiceServer(const char* topic_name, CallbackT cb) :
        pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
      {
        this->topic_ = topic_name;
        this->cb_ = cb;
      }

      // these refer to the subscriber
      virtual void callback(unsigned char *data){
        req.deserialize(data);
        cb_(req,resp);
        pub.publish(&resp);
      }
      virtual const char * getMsgType(){ return this->req.getType(); }
      virtual const char * getMsgMD5(){ return this->req.getMD5(); }
      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }

      MReq req;
      MRes resp;
      Publisher pub;
    private:
      CallbackT cb_;
  };

}

#endif