add_two_ints_server_class.cpp
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1 /*
2  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions are met:
6  * * Redistributions of source code must retain the above copyright notice,
7  * this list of conditions and the following disclaimer.
8  * * Redistributions in binary form must reproduce the above copyright
9  * notice, this list of conditions and the following disclaimer in the
10  * documentation and/or other materials provided with the distribution.
11  * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
12  * contributors may be used to endorse or promote products derived from
13  * this software without specific prior written permission.
14  *
15  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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17  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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19  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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23  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25  * POSSIBILITY OF SUCH DAMAGE.
26  */
27 
28 #include "ros/ros.h"
29 #include "roscpp_tutorials/TwoInts.h"
30 
31 // %Tag(CLASS_DECLARATION)%
32 class AddTwo
33 {
34 public:
35  bool add(roscpp_tutorials::TwoInts::Request& req,
36  roscpp_tutorials::TwoInts::Response& res);
37 };
38 // %EndTag(CLASS_DECLARATION)%
39 
40 bool AddTwo::add(roscpp_tutorials::TwoInts::Request& req,
41  roscpp_tutorials::TwoInts::Response& res)
42 {
43  res.sum = req.a + req.b;
44  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
45  ROS_INFO(" sending back response: [%ld]", (long int)res.sum);
46  return true;
47 }
48 
49 int main(int argc, char **argv)
50 {
51  ros::init(argc, argv, "add_two_ints_server");
53 
54 // %Tag(SERVICE_SERVER)%
55  AddTwo a;
56  ros::ServiceServer ss = n.advertiseService("add_two_ints", &AddTwo::add, &a);
57 // %EndTag(SERVICE_SERVER)%
58 
59  ros::spin();
60 
61  return 0;
62 }
63 
int main(int argc, char **argv)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
#define ROS_INFO(...)
bool add(roscpp_tutorials::TwoInts::Request &req, roscpp_tutorials::TwoInts::Response &res)
ROSCPP_DECL void spin()


roscpp_tutorials
Author(s): Morgan Quigley
autogenerated on Fri Jun 7 2019 22:01:43