service_server_imp.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
00038 #define ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
00039 
00040 #include <string>
00041 
00042 namespace actionlib
00043 {
00044 
00045 template<class ActionSpec>
00046 ServiceServer advertiseService(ros::NodeHandle n, std::string name,
00047   boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &,
00048   typename ActionSpec::_action_result_type::_result_type & result)> service_cb)
00049 {
00050   boost::shared_ptr<ServiceServerImp> server_ptr(new ServiceServerImpT<ActionSpec>(n, name,
00051     service_cb));
00052   return ServiceServer(server_ptr);
00053 }
00054 
00055 template<class ActionSpec>
00056 ServiceServerImpT<ActionSpec>::ServiceServerImpT(ros::NodeHandle n, std::string name,
00057   boost::function<bool(const Goal &, Result & result)> service_cb)
00058 : service_cb_(service_cb)
00059 {
00060   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
00061       boost::bind(&ServiceServerImpT::goalCB, this, _1), false));
00062   as_->start();
00063 }
00064 
00065 template<class ActionSpec>
00066 void ServiceServerImpT<ActionSpec>::goalCB(GoalHandle goal)
00067 {
00068   goal.setAccepted("This goal has been accepted by the service server");
00069 
00070   // we need to pass the result into the users callback
00071   Result r;
00072   if (service_cb_(*(goal.getGoal()), r)) {
00073     goal.setSucceeded(r, "The service server successfully processed the request");
00074   } else {
00075     goal.setAborted(r, "The service server failed to process the request");
00076   }
00077 }
00078 
00079 }  // namespace actionlib
00080 #endif  // ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Sat Feb 16 2019 03:21:28