service_callback_helper.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef ROSCPP_SERVICE_MESSAGE_HELPER_H
#define ROSCPP_SERVICE_MESSAGE_HELPER_H
 
#include "ros/forwards.h"
#include "ros/common.h"
#include "ros/message.h"
#include "ros/message_traits.h"
#include "ros/service_traits.h"
#include "ros/serialization.h"
 
#include <boost/type_traits/is_base_of.hpp>
#include <boost/utility/enable_if.hpp>
 
namespace ros
{
struct ROSCPP_DECL ServiceCallbackHelperCallParams
{
  SerializedMessage request;
  SerializedMessage response;
  boost::shared_ptr<M_string> connection_header;
};
 
template<typename M>
inline boost::shared_ptr<M> defaultServiceCreateFunction()
{
  return boost::make_shared<M>();
}
 
template<typename MReq, typename MRes>
struct ServiceSpecCallParams
{
  boost::shared_ptr<MReq> request;
  boost::shared_ptr<MRes> response;
  boost::shared_ptr<M_string> connection_header;
};
 
template<typename MReq, typename MRes>
class ServiceEvent
{
public:
  typedef MReq RequestType;
  typedef MRes ResponseType;
  typedef boost::shared_ptr<RequestType> RequestPtr;
  typedef boost::shared_ptr<ResponseType> ResponsePtr;
  typedef boost::function<bool(ServiceEvent<RequestType, ResponseType>&)> CallbackType;
 
  static bool call(const CallbackType& cb, ServiceSpecCallParams<RequestType, ResponseType>& params)
  {
    ServiceEvent<RequestType, ResponseType> event(params.request, params.response, params.connection_header);
    return cb(event);
  }
 
  ServiceEvent(const boost::shared_ptr<MReq const>& req, const boost::shared_ptr<MRes>& res, const boost::shared_ptr<M_string>& connection_header)
  : request_(req)
  , response_(res)
  , connection_header_(connection_header)
  {}
 
  const RequestType& getRequest() const { return *request_; }
  ResponseType& getResponse() const { return *response_; }
  M_string& getConnectionHeader() const { return *connection_header_; }
 
  const std::string& getCallerName() const { return (*connection_header_)["callerid"]; }
private:
  boost::shared_ptr<RequestType const> request_;
  boost::shared_ptr<ResponseType> response_;
  boost::shared_ptr<M_string> connection_header_;
};
 
template<typename MReq, typename MRes>
struct ServiceSpec
{
  typedef MReq RequestType;
  typedef MRes ResponseType;
  typedef boost::shared_ptr<RequestType> RequestPtr;
  typedef boost::shared_ptr<ResponseType> ResponsePtr;
  typedef boost::function<bool(RequestType&, ResponseType&)> CallbackType;
 
  static bool call(const CallbackType& cb, ServiceSpecCallParams<RequestType, ResponseType>& params)
  {
    return cb(*params.request, *params.response);
  }
};
 
class ROSCPP_DECL ServiceCallbackHelper
{
public:
  virtual ~ServiceCallbackHelper() {}
  virtual bool call(ServiceCallbackHelperCallParams& params) = 0;
};
typedef boost::shared_ptr<ServiceCallbackHelper> ServiceCallbackHelperPtr;
 
template<typename Spec>
class ServiceCallbackHelperT : public ServiceCallbackHelper
{
public:
  typedef typename Spec::RequestType RequestType;
  typedef typename Spec::ResponseType ResponseType;
  typedef typename Spec::RequestPtr RequestPtr;
  typedef typename Spec::ResponsePtr ResponsePtr;
  typedef typename Spec::CallbackType Callback;
  typedef boost::function<RequestPtr()> ReqCreateFunction;
  typedef boost::function<ResponsePtr()> ResCreateFunction;
 
  ServiceCallbackHelperT(const Callback& callback, 
                         const ReqCreateFunction& create_req = 
                         // these static casts are legally unnecessary, but
                         // here to keep clang 2.8 from getting confused
                         static_cast<RequestPtr(*)()>(defaultServiceCreateFunction<RequestType>), 
                         const ResCreateFunction& create_res = 
                         static_cast<ResponsePtr(*)()>(defaultServiceCreateFunction<ResponseType>))
  : callback_(callback)
  , create_req_(create_req)
  , create_res_(create_res)
  {
  }
 
  virtual bool call(ServiceCallbackHelperCallParams& params)
  {
    namespace ser = serialization;
    RequestPtr req(create_req_());
    ResponsePtr res(create_res_());
 
    ser::deserializeMessage(params.request, *req);
 
    ServiceSpecCallParams<RequestType, ResponseType> call_params;
    call_params.request = req;
    call_params.response = res;
    call_params.connection_header = params.connection_header;
    bool ok = Spec::call(callback_, call_params);
    params.response = ser::serializeServiceResponse(ok, *res);
    return ok;
  }
 
private:
  Callback callback_;
  ReqCreateFunction create_req_;
  ResCreateFunction create_res_;
};
 
}
 
#endif // ROSCPP_SERVICE_MESSAGE_HELPER_H