00001 /*------------------------------------------------------------------------ 00002 *--------------------- ros_rt_wmp -------------------- 00003 *------------------------------------------------------------------------ 00004 * V0.1B 15/09/11 00005 * 00006 * 00007 * File: ./src/WMPServiceManager.h 00008 * Authors: Danilo Tardioli 00009 * ---------------------------------------------------------------------- 00010 * Copyright (C) 2000-2011, Universidad de Zaragoza, SPAIN 00011 * 00012 * Contact Addresses: Danilo Tardioli dantard@unizar.es 00013 * 00014 * RT-WMP is free software; you can redistribute it and/or modify it 00015 * under the terms of the GNU General Public License as published by the 00016 * Free Software Foundation; either version 2, or (at your option) any 00017 * later version. 00018 * 00019 * RT-WMP is distributed in the hope that it will be useful, but 00020 * WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00022 * General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU General Public License 00025 * distributed with RT-WMP; see file COPYING. If not, write to the 00026 * Free Software Foundation, 59 Temple Place - Suite 330, Boston, MA 00027 * 02111-1307, USA. 00028 * 00029 * As a special exception, if you link this unit with other files to 00030 * produce an executable, this unit does not by itself cause the 00031 * resulting executable to be covered by the GNU General Public License. 00032 * This exception does not however invalidate any other reasons why the 00033 * executable file might be covered by the GNU Public License. 00034 * 00035 *----------------------------------------------------------------------*/ 00036 00037 #ifndef WMPSERVICEMANAGER_H_ 00038 #define WMPSERVICEMANAGER_H_ 00039 00040 #include "ServiceManager.h" 00041 00042 template<class T> class WMPServiceManager: public ServiceManager<T> { 00043 public: 00044 WMPServiceManager(ros::NodeHandle * n, int port, std::string name) : 00045 ServiceManager<T>(n, port, name, 0) { 00046 n->deleteParam(ServiceManager<T>::param_dest); 00047 } 00048 00049 protected: 00050 00051 void fillDestination(typename T::Request &req) { 00052 if (req.dest == wmpGetNodeId()) { 00053 ROS_ERROR( 00054 "Forbidden to call local service in a remote fashion, call will fail"); 00055 } else { 00056 ServiceManager<T>::host = req.dest; 00057 } 00058 } 00059 00060 int getPriority(typename T::Request &req) { 00061 return req.priority; 00062 } 00063 00064 }; 00065 00066 00067 #endif /* WMPSERVICEMANAGER_H_ */