service_server_imp.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
38 #define ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
39 
40 #include <string>
41 
42 namespace actionlib
43 {
44 
45 template<class ActionSpec>
46 ServiceServer advertiseService(ros::NodeHandle n, std::string name,
47  boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &,
48  typename ActionSpec::_action_result_type::_result_type & result)> service_cb)
49 {
50  boost::shared_ptr<ServiceServerImp> server_ptr(new ServiceServerImpT<ActionSpec>(n, name,
51  service_cb));
52  return ServiceServer(server_ptr);
53 }
54 
55 template<class ActionSpec>
57  boost::function<bool(const Goal &, Result & result)> service_cb)
58 : service_cb_(service_cb)
59 {
60  as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
61  boost::bind(&ServiceServerImpT::goalCB, this, boost::placeholders::_1), false));
62  as_->start();
63 }
64 
65 template<class ActionSpec>
66 void ServiceServerImpT<ActionSpec>::goalCB(GoalHandle goal)
67 {
68  goal.setAccepted("This goal has been accepted by the service server");
69 
70  // we need to pass the result into the users callback
71  Result r;
72  if (service_cb_(*(goal.getGoal()), r)) {
73  goal.setSucceeded(r, "The service server successfully processed the request");
74  } else {
75  goal.setAborted(r, "The service server failed to process the request");
76  }
77 }
78 
79 } // namespace actionlib
80 #endif // ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
boost::shared_ptr
actionlib::ServiceServerImpT::ServiceServerImpT
ServiceServerImpT(ros::NodeHandle n, std::string name, boost::function< bool(const Goal &, Result &result)> service_cb)
Definition: service_server_imp.h:91
actionlib::ServiceServerImpT::goalCB
void goalCB(GoalHandle g)
Definition: service_server_imp.h:101
actionlib::advertiseService
ServiceServer advertiseService(ros::NodeHandle n, std::string name, boost::function< bool(const typename ActionSpec::_action_goal_type::_goal_type &, typename ActionSpec::_action_result_type::_result_type &result)> service_cb)
Definition: service_server_imp.h:81
actionlib
Definition: action_definition.h:40
ros::NodeHandle


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Fri May 19 2023 02:36:55