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) override
  {
    req.deserialize(data);
    (obj_->*cb_)(req, resp);
    pub.publish(&resp);
  }
  virtual const char * getMsgType() override
  {
    return this->req.getType();
  }
  virtual const char * getMsgMD5() override
  {
    return this->req.getMD5();
  }
  virtual int getEndpointType() override
  {
    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) override
  {
    req.deserialize(data);
    cb_(req, resp);
    pub.publish(&resp);
  }
  virtual const char * getMsgType() override
  {
    return this->req.getType();
  }
  virtual const char * getMsgMD5() override
  {
    return this->req.getMD5();
  }
  virtual int getEndpointType() override
  {
    return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
  }
 
  MReq req;
  MRes resp;
  Publisher pub;
private:
  CallbackT cb_;
};
 
}
 
#endif