/usr/include/ros/service_server.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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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
* 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_HANDLE_H
#define ROSCPP_SERVICE_HANDLE_H
#include "ros/forwards.h"
#include "common.h"
namespace ros
{
/**
* \brief Manages an service advertisement.
*
* A ServiceServer should always be created through a call to NodeHandle::advertiseService(), or copied from
* one that was. Once all copies of a specific
* ServiceServer go out of scope, the service associated with it will be unadvertised and the service callback
* will stop being called.
*/
class ROSCPP_DECL ServiceServer
{
public:
ServiceServer() {}
ServiceServer(const ServiceServer& rhs);
~ServiceServer();
/**
* \brief Unadvertise the service associated with this ServiceServer
*
* This method usually does not need to be explicitly called, as automatic shutdown happens when
* all copies of this ServiceServer go out of scope
*
* This method overrides the automatic reference counted unadvertise, and immediately
* unadvertises the service associated with this ServiceServer
*/
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
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