roscpp: service_server.cpp Source File

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 #include "ros/service_server.h"
00029 #include "ros/node_handle.h"
00030 #include "ros/service_manager.h"
00031 
00032 namespace ros
00033 {
00034 
00035 ServiceServer::Impl::Impl()
00036 : unadvertised_(false), constructed_(WallTime::now().toSec())
00037 {
00038 }
00039 
00040 ServiceServer::Impl::~Impl()
00041 {
00042   if (WallTime::now().toSec() - constructed_ < 0.001)
00043     ROS_WARN("ServiceServer on '%s' destroyed immediately after creation.  Did you forget to store the handle?", service_.c_str());
00044   unadvertise();
00045 }
00046 
00047 bool ServiceServer::Impl::isValid() const
00048 {
00049   return !unadvertised_;
00050 }
00051 
00052 void ServiceServer::Impl::unadvertise()
00053 {
00054   if (!unadvertised_)
00055   {
00056     unadvertised_ = true;
00057     ServiceManager::instance()->unadvertiseService(service_);
00058     node_handle_.reset();
00059   }
00060 }
00061 
00062 ServiceServer::ServiceServer(const std::string& service, const NodeHandle& node_handle)
00063 : impl_(new Impl)
00064 {
00065   impl_->service_ = service;
00066   impl_->node_handle_ = NodeHandlePtr(new NodeHandle(node_handle));
00067 }
00068 
00069 ServiceServer::ServiceServer(const ServiceServer& rhs)
00070 {
00071   impl_ = rhs.impl_;
00072 }
00073 
00074 ServiceServer::~ServiceServer()
00075 {
00076 }
00077 
00078 void ServiceServer::shutdown()
00079 {
00080   if (impl_)
00081   {
00082     impl_->unadvertise();
00083   }
00084 }
00085 
00086 std::string ServiceServer::getService() const
00087 {
00088   if (impl_ && impl_->isValid())
00089   {
00090     return impl_->service_;
00091   }
00092 
00093   return std::string();
00094 }
00095 
00096 } // namespace ros