test_roscpp: service_adv.cpp Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Brian Gerkey */
00031 
00032 /*
00033  * Advertise a service
00034  */
00035 
00036 #include "ros/ros.h"
00037 #include <test_roscpp/TestStringString.h>
00038 
00039 bool caseFlip(test_roscpp::TestStringString::Request  &req,
00040                      test_roscpp::TestStringString::Response &res)
00041 {
00042   // copy over the request and overwrite the letters with their case-flip
00043   res.str = req.str;
00044   for (size_t i = 0; i < res.str.length(); i++)
00045   {
00046     char c = res.str[i];
00047     if (islower(c))
00048       c = toupper(c);
00049     else if (isupper(c))
00050       c = tolower(c);
00051     res.str[i] = c;
00052   }
00053   return true;
00054 }
00055 
00056 bool caseFlipLongRunning(test_roscpp::TestStringString::Request  &req,
00057                      test_roscpp::TestStringString::Response &res)
00058 {
00059   caseFlip(req, res);
00060 
00061   ros::Duration(2).sleep();
00062   return true;
00063 }
00064 
00065 bool caseFlipUnadvertise(test_roscpp::TestStringString::Request  &req,
00066                      test_roscpp::TestStringString::Response &res, ros::ServiceServer& srv)
00067 {
00068   caseFlip(req, res);
00069 
00070   srv.shutdown();
00071 
00072   ros::Duration(2).sleep();
00073   return true;
00074 }
00075 
00076 
00077 int
00078 main(int argc, char** argv)
00079 {
00080   ros::init(argc, argv, "service_adv");
00081   ros::NodeHandle nh;
00082 
00083   ros::ServiceServer srv1, srv2, srv3;
00084   srv1 = nh.advertiseService("service_adv", caseFlip);
00085   srv2 = nh.advertiseService("service_adv_long", caseFlipLongRunning);
00086   srv3 = nh.advertiseService<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response>("service_adv_unadv_in_callback", boost::bind(caseFlipUnadvertise, _1, _2, boost::ref(srv3)));
00087   ros::spin();
00088 }
00089