.. _program_listing_file__tmp_ws_src_marti_common_swri_roscpp_include_swri_roscpp_service_server_impl.h:

Program Listing for File service_server_impl.h
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_marti_common_swri_roscpp_include_swri_roscpp_service_server_impl.h>` (``/tmp/ws/src/marti_common/swri_roscpp/include/swri_roscpp/service_server_impl.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2015, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL SOUTHWEST RESEARCH INSTITUTE BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   #ifndef SWRI_ROSCPP_SERVICE_SERVER_IMPL_H_
   #define SWRI_ROSCPP_SERVICE_SERVER_IMPL_H_
   
   #include <boost/lexical_cast.hpp>
   
   #include <rclcpp/service.hpp>
   
   #include <swri_roscpp/service_server_statistics.h>
   
   namespace swri
   {
   class ServiceServer;
   class ServiceServerImpl
   {
    protected:
     rclcpp::ServiceBase::SharedPtr server_;
     std::string unmapped_service_;
   
     ServiceServerStatistics total_stats_;
     bool instrument_per_client_;
     std::map<std::string, ServiceServerStatistics> client_stats_;
   
     bool log_calls_;
     
     void processServing(const std::string caller_name,
                         bool success,
                         const rclcpp::Duration &runtime)
     {
       total_stats_.merge(success, std::chrono::nanoseconds(runtime.nanoseconds()));
       if (instrument_per_client_) {
         client_stats_[caller_name].merge(success, std::chrono::nanoseconds(runtime.nanoseconds()));
       }
     }
   
    public:
     ServiceServerImpl()
       :
       unmapped_service_("uninitialized"),
       instrument_per_client_(false),
       log_calls_(false)
     {
     }
   
     void resetStatistics()
     {
       total_stats_.reset();
       client_stats_.clear();
     }
   
     const std::string& unmappedService() const { return unmapped_service_; }
   
     const ServiceServerStatistics& totalStats() const { return total_stats_; }
   
     void setInstrumentPerClient(bool enable)
     {
       instrument_per_client_ = enable;
       if (!instrument_per_client_) {
         client_stats_.clear();
       }
     }
   
     bool instrumentPerClient() const { return instrument_per_client_; }
   
     std::vector<std::string> clientNames() const
     {
       std::vector<std::string> names;
       names.reserve(client_stats_.size());
   
       std::map<std::string, ServiceServerStatistics>::const_iterator it;
       for (it = client_stats_.begin(); it != client_stats_.end(); it++) {
         names.push_back(it->first);
       }
       return names;
     }
   
     ServiceServerStatistics clientStatistics(
       const std::string &name) const
     {
       std::map<std::string, ServiceServerStatistics>::const_iterator it;
       it = client_stats_.find(name);
       if (it == client_stats_.end()) {
         return ServiceServerStatistics();
       } else {
         return it->second;
       }
     }
   
     void setLogCalls(bool enable)
     {
       log_calls_ = enable;
     }
   
     bool logCalls() const { return log_calls_; }
   };
   
   template<class S, class MReq, class MRes, class T>
   class TypedServiceServerImpl : public ServiceServerImpl
   {
     T *obj_;
     bool (T::*callback_plain_)(const MReq &, const MRes &);
     rclcpp::Node* nh_;
   
     void initialize(rclcpp::Node &nh,
                     const std::string &service)
     {
       nh_ = &nh;
       unmapped_service_ = service;
   
       RCLCPP_INFO(nh_->get_logger(), "Serving to '%s'.", unmapped_service_.c_str());
   
       server_ = nh.create_service<S>(unmapped_service_,
           std::bind(&TypedServiceServerImpl::handleService,
           this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
     }
   
     bool handleService(const std::shared_ptr<rmw_request_id_t> request_header,
                        const MReq req, const MRes res)
     {
       std::string caller = boost::lexical_cast<std::string>(request_header->writer_guid);
       if (logCalls()) {
         RCLCPP_INFO(nh_->get_logger(), "Service '%s' called by '%s'",
                  unmapped_service_.c_str(),
                  caller.c_str());
       }
       
       bool result;
       std::chrono::system_clock::time_point start = std::chrono::system_clock::now();
   
       try {
         result = (obj_->*callback_plain_)(req, res);
       } catch (...) {
         result = false;
       }
       std::chrono::system_clock::time_point finish = std::chrono::system_clock::now();
   
       processServing(caller, result, finish-start);
       return result;
     }
   
    public:
     TypedServiceServerImpl()
       :
       obj_(NULL),
       callback_plain_(NULL)
     {
     }
   
     TypedServiceServerImpl(rclcpp::Node &nh,
                            const std::string &service,
                            bool(T::*srv_func)(const MReq &, const MRes &),
                            T *obj)
     {
       obj_ = obj;
       callback_plain_ = srv_func;
       initialize(nh, service);
     }
   };  // class TypedServiceServerImpl
   }  // namespace swri
   #endif  // SWRI_ROSCPP_SERVICE_SERVER_IMPL_H_