service_server.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
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 * 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
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 */
 
#ifndef ROSCPP_SERVICE_HANDLE_H
#define ROSCPP_SERVICE_HANDLE_H
 
#include "ros/forwards.h"
#include "common.h"
 
namespace ros
{
 
class ROSCPP_DECL ServiceServer
{
public:
  ServiceServer() {}
  ServiceServer(const ServiceServer& rhs);
  ~ServiceServer();
  ServiceServer& operator=(const ServiceServer& other) = default;
 
  void shutdown();
 
  std::string getService() const;
 
  operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
 
  bool operator<(const ServiceServer& rhs) const
  {
    return impl_ < rhs.impl_;
  }
 
  bool operator==(const ServiceServer& rhs) const
  {
    return impl_ == rhs.impl_;
  }
 
  bool operator!=(const ServiceServer& rhs) const
  {
    return impl_ != rhs.impl_;
  }
 
private:
  ServiceServer(const std::string& service, const NodeHandle& node_handle);
 
  class Impl
  {
  public:
    Impl();
    ~Impl();
 
    void unadvertise();
    bool isValid() const;
 
    std::string service_;
    NodeHandlePtr node_handle_;
    bool unadvertised_;
  };
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
 
  ImplPtr impl_;
 
  friend class NodeHandle;
  friend class NodeHandleBackingCollection;
};
typedef std::vector<ServiceServer> V_ServiceServer;
 
}
 
#endif // ROSCPP_SERVICE_HANDLE_H