/usr/include/ros/service_publication.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
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* Copyright (C) 2008, Morgan Quigley and 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
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_SERVICE_PUBLICATION_H
#define ROSCPP_SERVICE_PUBLICATION_H
#include "ros/service_callback_helper.h"
#include "common.h"
#include "xmlrpcpp/XmlRpc.h"
#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/shared_array.hpp>
#include <boost/thread.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <vector>
#include <queue>
namespace ros
{
class ServiceClientLink;
typedef boost::shared_ptr<ServiceClientLink> ServiceClientLinkPtr;
typedef std::vector<ServiceClientLinkPtr> V_ServiceClientLink;
class CallbackQueueInterface;
class Message;
/**
* \brief Manages an advertised service.
*
* ServicePublication manages all incoming service requests. If its thread pool size is not 0, it will queue the requests
* into a number of threads, calling the callback from within those threads. Otherwise it immediately calls the callback
*/
class ROSCPP_DECL ServicePublication : public boost::enable_shared_from_this<ServicePublication>
{
public:
ServicePublication(const std::string& name, const std::string &md5sum, const std::string& data_type, const std::string& request_data_type,
const std::string& response_data_type, const ServiceCallbackHelperPtr& helper, CallbackQueueInterface* queue,
const VoidConstPtr& tracked_object);
~ServicePublication();
/**
* \brief Adds a request to the queue if our thread pool size is not 0, otherwise immediately calls the callback
*/
void processRequest(boost::shared_array<uint8_t> buf, size_t num_bytes, const ServiceClientLinkPtr& link);
/**
* \brief Adds a service link for us to manage
*/
void addServiceClientLink(const ServiceClientLinkPtr& link);
/**
* \brief Removes a service link from our list
*/
void removeServiceClientLink(const ServiceClientLinkPtr& link);
/**
* \brief Terminate this service server
*/
void drop();
/**
* \brief Returns whether or not this service server is valid
*/
bool isDropped() { return dropped_; }
const std::string& getMD5Sum() { return md5sum_; }
const std::string& getRequestDataType() { return request_data_type_; }
const std::string& getResponseDataType() { return response_data_type_; }
const std::string& getDataType() { return data_type_; }
const std::string& getName() { return name_; }
private:
void dropAllConnections();
std::string name_;
std::string md5sum_;
std::string data_type_;
std::string request_data_type_;
std::string response_data_type_;
ServiceCallbackHelperPtr helper_;
V_ServiceClientLink client_links_;
boost::mutex client_links_mutex_;
bool dropped_;
CallbackQueueInterface* callback_queue_;
bool has_tracked_object_;
VoidConstWPtr tracked_object_;
};
typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
}
#endif // ROSCPP_SERVICE_PUBLICATION_H
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