service_server.cpp
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27 
28 #include "ros/service_server.h"
29 #include "ros/node_handle.h"
30 #include "ros/service_manager.h"
31 
32 namespace ros
33 {
34 
35 ServiceServer::Impl::Impl() : unadvertised_(false) { }
36 
38 {
39  ROS_DEBUG("ServiceServer on '%s' deregistering callbacks.", service_.c_str());
40  unadvertise();
41 }
42 
44 {
45  return !unadvertised_;
46 }
47 
49 {
50  if (!unadvertised_)
51  {
52  unadvertised_ = true;
53  ServiceManager::instance()->unadvertiseService(service_);
54  node_handle_.reset();
55  }
56 }
57 
58 ServiceServer::ServiceServer(const std::string& service, const NodeHandle& node_handle)
59 : impl_(boost::make_shared<Impl>())
60 {
61  impl_->service_ = service;
62  impl_->node_handle_ = boost::make_shared<NodeHandle>(node_handle);
63 }
64 
66 {
67  impl_ = rhs.impl_;
68 }
69 
71 {
72 }
73 
75 {
76  if (impl_)
77  {
78  impl_->unadvertise();
79  }
80 }
81 
82 std::string ServiceServer::getService() const
83 {
84  if (impl_ && impl_->isValid())
85  {
86  return impl_->service_;
87  }
88 
89  return std::string();
90 }
91 
92 } // namespace ros
NodeHandlePtr node_handle_
static const ServiceManagerPtr & instance()
roscpp&#39;s interface for creating subscribers, publishers, etc.
Definition: node_handle.h:87
std::string getService() const
void shutdown()
Unadvertise the service associated with this ServiceServer.
Manages an service advertisement.
#define ROS_DEBUG(...)


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Wed Mar 21 2018 07:13:27