service_server.h

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#ifndef ROS_SERVICE_SERVER_H_
#define ROS_SERVICE_SERVER_H_

#include "node_output.h"

namespace ros {

  template<typename SrvRequest , typename SrvResponse>
  class ServiceServer : MsgReceiver{
    public:
      typedef void(*CallbackT)(const SrvRequest&,  SrvResponse&);

      ServiceServer(const char* topic_name, CallbackT cb){
        this->topic_ = topic_name;
        this->cb_ = cb;
      }

      ServiceServer(ServiceServer& srv){
        this->topic_ = srv.topic_;
        this->cb_ = srv.cb_;
      }

      virtual void receive(unsigned char * data){
        req.deserialize(data);
        this->cb_(req, resp);
        no_->publish(id_, &resp);
      }

      virtual int _getType(){
        return 3;
      }
     
      virtual const char * getMsgType(){
        return req.getType();
      }

      SrvRequest req;
      SrvResponse resp;
      NodeOutput_ * no_;

    private:
      CallbackT cb_;
  };

}

#endif