service_server.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB__SERVER__SERVICE_SERVER_H_
#define ACTIONLIB__SERVER__SERVICE_SERVER_H_
 
#include <actionlib/action_definition.h>
#include <actionlib/server/action_server.h>
 
#include <string>
 
namespace actionlib
{
 
class ServiceServerImp
{
public:
  ServiceServerImp() {}
  virtual ~ServiceServerImp() {}
};
 
class ServiceServer
{
public:
  ServiceServer(boost::shared_ptr<ServiceServerImp> server)
  : server_(server) {}
 
private:
  boost::shared_ptr<ServiceServerImp> server_;
};
 
template<class ActionSpec>
ServiceServer advertiseService(ros::NodeHandle n, std::string name,
  boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &,
  typename ActionSpec::_action_result_type::_result_type & result)> service_cb);
 
template<class ActionSpec>
class ServiceServerImpT : public ServiceServerImp
{
public:
  // generates typedefs that we'll use to make our lives easier
  ACTION_DEFINITION(ActionSpec)
 
  typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
 
  ServiceServerImpT(ros::NodeHandle n, std::string name,
    boost::function<bool(const Goal &, Result & result)> service_cb);
  void goalCB(GoalHandle g);
 
private:
  boost::shared_ptr<ActionServer<ActionSpec> > as_;
  boost::function<bool(const Goal &, Result & result)> service_cb_;
};
 
}  // namespace actionlib
 
// include the implementation
#include <actionlib/server/service_server_imp.h>
#endif  // ACTIONLIB__SERVER__SERVICE_SERVER_H_