advertise_service_options.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_ADVERTISE_SERVICE_OPTIONS_H
00029 #define ROSCPP_ADVERTISE_SERVICE_OPTIONS_H
00030 
00031 #include "ros/forwards.h"
00032 #include "ros/service_callback_helper.h"
00033 #include "ros/service_traits.h"
00034 #include "ros/message_traits.h"
00035 #include "common.h"
00036 
00037 namespace ros
00038 {
00039 
00043 struct ROSCPP_DECL AdvertiseServiceOptions
00044 {
00045   AdvertiseServiceOptions()
00046   : callback_queue(0)
00047   {
00048   }
00049 
00055   template<class MReq, class MRes>
00056   void init(const std::string& _service, const boost::function<bool(MReq&, MRes&)>& _callback)
00057   {
00058     namespace st = service_traits;
00059     namespace mt = message_traits;
00060     if (st::md5sum<MReq>() != st::md5sum<MRes>())
00061     {
00062       ROS_FATAL("the request and response parameters to the server "
00063       "callback function must be autogenerated from the same "
00064       "server definition file (.srv). your advertise_servce "
00065       "call for %s appeared to use request/response types "
00066       "from different .srv files.", service.c_str());
00067       ROS_BREAK();
00068     }
00069 
00070     service = _service;
00071     md5sum = st::md5sum<MReq>();
00072     datatype = st::datatype<MReq>();
00073     req_datatype = mt::datatype<MReq>();
00074     res_datatype = mt::datatype<MRes>();
00075     helper = boost::make_shared<ServiceCallbackHelperT<ServiceSpec<MReq, MRes> > >(_callback);
00076   }
00077 
00083   template<class Service>
00084   void init(const std::string& _service, const boost::function<bool(typename Service::Request&, typename Service::Response&)>& _callback)
00085   {
00086     namespace st = service_traits;
00087     namespace mt = message_traits;
00088     typedef typename Service::Request Request;
00089     typedef typename Service::Response Response;
00090     service = _service;
00091     md5sum = st::md5sum<Service>();
00092     datatype = st::datatype<Service>();
00093     req_datatype = mt::datatype<Request>();
00094     res_datatype = mt::datatype<Response>();
00095     helper = boost::make_shared<ServiceCallbackHelperT<ServiceSpec<Request, Response> > >(_callback);
00096   }
00097 
00103   template<class Spec>
00104   void initBySpecType(const std::string& _service, const typename Spec::CallbackType& _callback)
00105   {
00106     namespace st = service_traits;
00107     namespace mt = message_traits;
00108     typedef typename Spec::RequestType Request;
00109     typedef typename Spec::ResponseType Response;
00110     service = _service;
00111     md5sum = st::md5sum<Request>();
00112     datatype = st::datatype<Request>();
00113     req_datatype = mt::datatype<Request>();
00114     res_datatype = mt::datatype<Response>();
00115     helper = boost::make_shared<ServiceCallbackHelperT<Spec> >(_callback);
00116   }
00117 
00118   std::string service;                                                
00119   std::string md5sum;                                                 
00120   std::string datatype;                                               
00121   std::string req_datatype;                                           
00122   std::string res_datatype;                                           
00123 
00124   ServiceCallbackHelperPtr helper;                                     
00125 
00126   CallbackQueueInterface* callback_queue;                             
00127 
00138   VoidConstPtr tracked_object;
00139 
00147   template<class Service>
00148   static AdvertiseServiceOptions create(const std::string& service,
00149                                  const boost::function<bool(typename Service::Request&, typename Service::Response&)>& callback,
00150                                  const VoidConstPtr& tracked_object,
00151                                  CallbackQueueInterface* queue)
00152   {
00153     AdvertiseServiceOptions ops;
00154     ops.init<typename Service::Request, typename Service::Response>(service, callback);
00155     ops.tracked_object = tracked_object;
00156     ops.callback_queue = queue;
00157     return ops;
00158   }
00159 };
00160 
00161 
00162 
00163 }
00164 
00165 #endif
00166 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03