.. _program_listing_file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_include_bosch_locator_bridge_server_server_bridge_node.hpp:

Program Listing for File server_bridge_node.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_include_bosch_locator_bridge_server_server_bridge_node.hpp>` (``/tmp/ws/src/locator_ros_bridge/bosch_locator_bridge/include/bosch_locator_bridge/server/server_bridge_node.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2021 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository
   // https://github.com/boschglobal/locator_ros_bridge.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef BOSCH_LOCATOR_BRIDGE__SERVER__SERVER_BRIDGE_NODE_HPP_
   #define BOSCH_LOCATOR_BRIDGE__SERVER__SERVER_BRIDGE_NODE_HPP_
   
   #include <Poco/Thread.h>
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   #include <utility>
   #include <vector>
   
   #include "rclcpp/rclcpp.hpp"
   #include "std_srvs/srv/empty.hpp"
   
   #include "bosch_locator_bridge/srv/server_map_get_image_with_resolution.hpp"
   #include "bosch_locator_bridge/srv/server_map_list.hpp"
   
   // forward declarations
   class LocatorRPCInterface;
   
   class ServerBridgeNode : public rclcpp::Node
   {
   public:
     explicit ServerBridgeNode(const std::string & nodeName);
     virtual ~ServerBridgeNode();
   
     void init();
   
   private:
     bool check_module_versions(
       const std::unordered_map<std::string, std::pair<int32_t, int32_t>>
       & module_versions);
   
     bool serverMapListCb(
       const std::shared_ptr<bosch_locator_bridge::srv::ServerMapList::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ServerMapList::Response> res);
   
     bool serverMapGetImageWithResolutionCb(
       const std::shared_ptr<bosch_locator_bridge::srv::ServerMapGetImageWithResolution::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ServerMapGetImageWithResolution::Response> res);
   
     void syncConfig();
   
     std::unique_ptr<LocatorRPCInterface> server_interface_;
   
     rclcpp::TimerBase::SharedPtr session_refresh_timer_;
   
     std::vector<rclcpp::ServiceBase::SharedPtr> services_;
   };
   
   #endif  // BOSCH_LOCATOR_BRIDGE__SERVER__SERVER_BRIDGE_NODE_HPP_