00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROS_SERVICE_SERVER_H_ 00036 #define ROS_SERVICE_SERVER_H_ 00037 00038 #include "node_output.h" 00039 00040 namespace ros { 00041 00042 template<typename SrvRequest , typename SrvResponse> 00043 class ServiceServer : MsgReceiver{ 00044 public: 00045 typedef void(*CallbackT)(const SrvRequest&, SrvResponse&); 00046 00047 ServiceServer(const char* topic_name, CallbackT cb){ 00048 this->topic_ = topic_name; 00049 this->cb_ = cb; 00050 } 00051 00052 ServiceServer(ServiceServer& srv){ 00053 this->topic_ = srv.topic_; 00054 this->cb_ = srv.cb_; 00055 } 00056 00057 virtual void receive(unsigned char * data){ 00058 req.deserialize(data); 00059 this->cb_(req, resp); 00060 no_->publish(id_, &resp); 00061 } 00062 00063 virtual int _getType(){ 00064 return 3; 00065 } 00066 00067 virtual const char * getMsgType(){ 00068 return req.getType(); 00069 } 00070 00071 SrvRequest req; 00072 SrvResponse resp; 00073 NodeOutput_ * no_; 00074 00075 private: 00076 CallbackT cb_; 00077 }; 00078 00079 } 00080 00081 #endif