topic_service_server.h

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#ifndef SWRI_ROSCPP_TOPIC_SERVICE_SERVER_H_
#define SWRI_ROSCPP_TOPIC_SERVICE_SERVER_H_
 
#include <ros/node_handle.h>
 
namespace swri
{
class ImplRoot
{
public:
  virtual ~ImplRoot()
  {
 
  }
};
 
template<class MReq, class MRes, class T>
class TopicServiceServerImpl: public ImplRoot
{
  ros::Subscriber request_sub_;
  ros::Publisher response_pub_;
 
  bool(T::*callback_)(const MReq &, MRes &);
  T* obj_;
 
public:
  void initialize(ros::NodeHandle &nh,
              const std::string &service,
              bool(T::*srv_func)(const MReq &, MRes &),
              T *obj)
  {
    callback_ = srv_func;
    obj_ = obj;
 
    ros::NodeHandle pnh("~");
 
    std::string rservice = nh.resolveName(service);
 
    response_pub_ = nh.advertise<MRes>(rservice + "/response", 10);
    request_sub_ = nh.subscribe(rservice + "/request", 10, &TopicServiceServerImpl<MReq, MRes, T>::request_callback, this);
  }
 
private:
 
  void request_callback(const MReq& message)
  {
    ROS_DEBUG("Got request from %s with sequence %i", message.srv_header.sender.c_str(), message.srv_header.sequence);
 
    MRes response;
 
    bool result = (obj_->*callback_)(message, response);
    response.srv_header.result = result;
    response.srv_header.sequence = message.srv_header.sequence;
    response.srv_header.sender = message.srv_header.sender;
    response_pub_.publish(response);
  }
};
 
class TopicServiceServer
{
 private:
 
  boost::shared_ptr<ImplRoot> impl_;
 
 public:
  TopicServiceServer();
 
  template<class MReq, class MRes, class T>
  void initialize(ros::NodeHandle &nh,
                const std::string &service,
                bool(T::*srv_func)(const MReq &, MRes &),
                T *obj);
};  // class TopicServiceServer
 
inline
TopicServiceServer::TopicServiceServer()
{
 
}
 
template<class MReq, class MRes, class T>
inline
void TopicServiceServer::initialize(ros::NodeHandle &nh,
                          const std::string &service,
                          bool(T::*srv_func)(const MReq &, MRes &),
                          T *obj)
{
  TopicServiceServerImpl<MReq, MRes, T>* impl = new TopicServiceServerImpl<MReq, MRes, T>();
  impl->initialize(nh, service, srv_func, obj);
  impl_ = boost::shared_ptr<ImplRoot>(impl);
}
 
}  // namespace swri
#endif  // SWRI_ROSCPP_TOPIC_SERVICE_SERVER_H_