service_server.h
Go to the documentation of this file.
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
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB__SERVER__SERVICE_SERVER_H_
00038 #define ACTIONLIB__SERVER__SERVICE_SERVER_H_
00039 
00040 #include <actionlib/action_definition.h>
00041 #include <actionlib/server/action_server.h>
00042 
00043 #include <string>
00044 
00045 namespace actionlib
00046 {
00047 
00048 class ServiceServerImp
00049 {
00050 public:
00051   ServiceServerImp() {}
00052   virtual ~ServiceServerImp() {}
00053 };
00054 
00055 class ServiceServer
00056 {
00057 public:
00058   ServiceServer(boost::shared_ptr<ServiceServerImp> server)
00059   : server_(server) {}
00060 
00061 private:
00062   boost::shared_ptr<ServiceServerImp> server_;
00063 };
00064 
00065 template<class ActionSpec>
00066 ServiceServer advertiseService(ros::NodeHandle n, std::string name,
00067   boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &,
00068   typename ActionSpec::_action_result_type::_result_type & result)> service_cb);
00069 
00070 template<class ActionSpec>
00071 class ServiceServerImpT : public ServiceServerImp
00072 {
00073 public:
00074   // generates typedefs that we'll use to make our lives easier
00075   ACTION_DEFINITION(ActionSpec);
00076 
00077   typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
00078 
00079   ServiceServerImpT(ros::NodeHandle n, std::string name,
00080     boost::function<bool(const Goal &, Result & result)> service_cb);
00081   void goalCB(GoalHandle g);
00082 
00083 private:
00084   boost::shared_ptr<ActionServer<ActionSpec> > as_;
00085   boost::function<bool(const Goal &, Result & result)> service_cb_;
00086 };
00087 
00088 }  // namespace actionlib
00089 
00090 // include the implementation
00091 #include <actionlib/server/service_server_imp.h>
00092 #endif  // ACTIONLIB__SERVER__SERVICE_SERVER_H_


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Sep 28 2017 02:51:16