Server.java

Go to the documentation of this file.

/*
 * Copyright (C) 2011 Google Inc.
 * 
 * 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.
 */

package org.ros.rosjava_tutorial_services;

import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.service.ServiceResponseBuilder;
import org.ros.node.service.ServiceServer;

public class Server extends AbstractNodeMain {

  @Override
  public GraphName getDefaultNodeName() {
    return GraphName.of("rosjava_tutorial_services/server");
  }

  @Override
  public void onStart(ConnectedNode connectedNode) {
    connectedNode.newServiceServer("add_two_ints", rosjava_test_msgs.AddTwoInts._TYPE,
        new ServiceResponseBuilder<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse>() {
          @Override
          public void
              build(rosjava_test_msgs.AddTwoIntsRequest request, rosjava_test_msgs.AddTwoIntsResponse response) {
            response.setSum(request.getA() + request.getB());
          }
        });
  }
}