service_server.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_SERVER_SERVICE_SERVER_H_
00038 #define ACTIONLIB_SERVER_SERVICE_SERVER_H_
00039 
00040 #include <actionlib/action_definition.h>
00041 #include <actionlib/server/action_server.h>
00042 
00043 namespace actionlib {
00044   class ServiceServerImp {
00045     public:
00046       ServiceServerImp(){}
00047       virtual ~ServiceServerImp(){}
00048   };
00049 
00050   class ServiceServer {
00051     public:
00052       ServiceServer(boost::shared_ptr<ServiceServerImp> server) : server_(server) {}
00053 
00054     private:
00055       boost::shared_ptr<ServiceServerImp> server_;
00056   };
00057 
00058   template <class ActionSpec> 
00059   ServiceServer advertiseService(ros::NodeHandle n, std::string name,
00060           boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&, 
00061                                 typename ActionSpec::_action_result_type::_result_type& result)> service_cb);
00062 
00063   template <class ActionSpec>
00064   class ServiceServerImpT : public ServiceServerImp {
00065     public:
00066       //generates typedefs that we'll use to make our lives easier
00067       ACTION_DEFINITION(ActionSpec);
00068 
00069       typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
00070 
00071       ServiceServerImpT(ros::NodeHandle n, std::string name, 
00072           boost::function<bool (const Goal&, Result& result)> service_cb);
00073       void goalCB(GoalHandle g);
00074 
00075     private:
00076       boost::shared_ptr<ActionServer<ActionSpec> > as_;
00077       boost::function<bool (const Goal&, Result& result)> service_cb_;
00078   };
00079 };
00080 
00081 //include the implementation
00082 #include <actionlib/server/service_server_imp.h>
00083 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49