service_server_imp.h
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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
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_SERVER_SERVICE_SERVER_IMP_H_
00038 #define ACTIONLIB_SERVER_SERVICE_SERVER_IMP_H_
00039 namespace actionlib {
00040   template <class ActionSpec>
00041   ServiceServer advertiseService(ros::NodeHandle n, std::string name,
00042           boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&, 
00043                                 typename ActionSpec::_action_result_type::_result_type& result)> service_cb)
00044   {
00045     boost::shared_ptr<ServiceServerImp> server_ptr(new ServiceServerImpT<ActionSpec>(n, name, service_cb));
00046     return ServiceServer(server_ptr);
00047   }
00048 
00049   template <class ActionSpec>
00050   ServiceServerImpT<ActionSpec>::ServiceServerImpT(ros::NodeHandle n, std::string name, 
00051       boost::function<bool (const Goal&, Result& result)> service_cb)
00052       : service_cb_(service_cb)
00053   {
00054     as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
00055           boost::bind(&ServiceServerImpT::goalCB, this, _1), false));
00056     as_->start();
00057   }
00058 
00059   template <class ActionSpec>
00060   void ServiceServerImpT<ActionSpec>::goalCB(GoalHandle goal){
00061     goal.setAccepted("This goal has been accepted by the service server");
00062 
00063     //we need to pass the result into the users callback
00064     Result r;
00065     if(service_cb_(*(goal.getGoal()), r))
00066       goal.setSucceeded(r, "The service server successfully processed the request");
00067     else
00068       goal.setAborted(r, "The service server failed to process the request");
00069   }
00070 };
00071 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Aug 28 2015 10:04:41