service_server.h
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34 
35 #ifndef _ROS_SERVICE_SERVER_H_
36 #define _ROS_SERVICE_SERVER_H_
37 
38 #include "rosserial_msgs/TopicInfo.h"
39 
40 #include "ros/publisher.h"
41 #include "ros/subscriber.h"
42 
43 namespace ros
44 {
45 
46 template<typename MReq , typename MRes, typename ObjT = void>
47 class ServiceServer : public Subscriber_
48 {
49 public:
50  typedef void(ObjT::*CallbackT)(const MReq&, MRes&);
51 
52  ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) :
53  pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER),
54  obj_(obj)
55  {
56  this->topic_ = topic_name;
57  this->cb_ = cb;
58  }
59 
60  // these refer to the subscriber
61  virtual void callback(unsigned char *data)
62  {
63  req.deserialize(data);
64  (obj_->*cb_)(req, resp);
65  pub.publish(&resp);
66  }
67  virtual const char * getMsgType()
68  {
69  return this->req.getType();
70  }
71  virtual const char * getMsgMD5()
72  {
73  return this->req.getMD5();
74  }
75  virtual int getEndpointType()
76  {
77  return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
78  }
79 
80  MReq req;
81  MRes resp;
82  Publisher pub;
83 private:
84  CallbackT cb_;
85  ObjT* obj_;
86 };
87 
88 template<typename MReq , typename MRes>
89 class ServiceServer<MReq, MRes, void> : public Subscriber_
90 {
91 public:
92  typedef void(*CallbackT)(const MReq&, MRes&);
93 
94  ServiceServer(const char* topic_name, CallbackT cb) :
95  pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
96  {
97  this->topic_ = topic_name;
98  this->cb_ = cb;
99  }
100 
101  // these refer to the subscriber
102  virtual void callback(unsigned char *data)
103  {
104  req.deserialize(data);
105  cb_(req, resp);
106  pub.publish(&resp);
107  }
108  virtual const char * getMsgType()
109  {
110  return this->req.getType();
111  }
112  virtual const char * getMsgMD5()
113  {
114  return this->req.getMD5();
115  }
116  virtual int getEndpointType()
117  {
118  return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
119  }
120 
121  MReq req;
122  MRes resp;
124 private:
125  CallbackT cb_;
126 };
127 
128 }
129 
130 #endif
void publish(const boost::shared_ptr< M > &message) const
ServiceServer(const char *topic_name, CallbackT cb)
virtual void callback(unsigned char *data)
const char * topic_
Definition: subscriber.h:55


rosserial_client
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Fri Jun 7 2019 22:02:43