advertise_service_options.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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */
 
#ifndef ROSCPP_ADVERTISE_SERVICE_OPTIONS_H
#define ROSCPP_ADVERTISE_SERVICE_OPTIONS_H
 
#include "ros/forwards.h"
#include "ros/service_callback_helper.h"
#include "ros/service_traits.h"
#include "ros/message_traits.h"
#include "common.h"
 
namespace ros
{
 
struct ROSCPP_DECL AdvertiseServiceOptions
{
  AdvertiseServiceOptions()
  : callback_queue(0)
  {
  }
 
  template<class MReq, class MRes>
  void init(const std::string& _service, const boost::function<bool(MReq&, MRes&)>& _callback)
  {
    namespace st = service_traits;
    namespace mt = message_traits;
    if (st::md5sum<MReq>() != st::md5sum<MRes>())
    {
      ROS_FATAL("the request and response parameters to the server "
      "callback function must be autogenerated from the same "
      "server definition file (.srv). your advertise_servce "
      "call for %s appeared to use request/response types "
      "from different .srv files.", service.c_str());
      ROS_BREAK();
    }
 
    service = _service;
    md5sum = st::md5sum<MReq>();
    datatype = st::datatype<MReq>();
    req_datatype = mt::datatype<MReq>();
    res_datatype = mt::datatype<MRes>();
    helper = boost::make_shared<ServiceCallbackHelperT<ServiceSpec<MReq, MRes> > >(_callback);
  }
 
  template<class Service>
  void init(const std::string& _service, const boost::function<bool(typename Service::Request&, typename Service::Response&)>& _callback)
  {
    namespace st = service_traits;
    namespace mt = message_traits;
    typedef typename Service::Request Request;
    typedef typename Service::Response Response;
    service = _service;
    md5sum = st::md5sum<Service>();
    datatype = st::datatype<Service>();
    req_datatype = mt::datatype<Request>();
    res_datatype = mt::datatype<Response>();
    helper = boost::make_shared<ServiceCallbackHelperT<ServiceSpec<Request, Response> > >(_callback);
  }
 
  template<class Spec>
  void initBySpecType(const std::string& _service, const typename Spec::CallbackType& _callback)
  {
    namespace st = service_traits;
    namespace mt = message_traits;
    typedef typename Spec::RequestType Request;
    typedef typename Spec::ResponseType Response;
    service = _service;
    md5sum = st::md5sum<Request>();
    datatype = st::datatype<Request>();
    req_datatype = mt::datatype<Request>();
    res_datatype = mt::datatype<Response>();
    helper = boost::make_shared<ServiceCallbackHelperT<Spec> >(_callback);
  }
 
  std::string service;                                                
  std::string md5sum;                                                 
  std::string datatype;                                               
  std::string req_datatype;                                           
  std::string res_datatype;                                           
 
  ServiceCallbackHelperPtr helper;                                     
 
  CallbackQueueInterface* callback_queue;                             
 
  VoidConstPtr tracked_object;
 
  template<class Service>
  static AdvertiseServiceOptions create(const std::string& service,
                                 const boost::function<bool(typename Service::Request&, typename Service::Response&)>& callback,
                                 const VoidConstPtr& tracked_object,
                                 CallbackQueueInterface* queue)
  {
    AdvertiseServiceOptions ops;
    ops.init<typename Service::Request, typename Service::Response>(service, callback);
    ops.tracked_object = tracked_object;
    ops.callback_queue = queue;
    return ops;
  }
};
 
 
 
}
 
#endif