/usr/include/actionlib/server/service_server_imp.h is in libactionlib-dev 1.11.7-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 | /*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* 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 name of 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.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_SERVER_SERVICE_SERVER_IMP_H_
#define ACTIONLIB_SERVER_SERVICE_SERVER_IMP_H_
namespace actionlib {
template <class ActionSpec>
ServiceServer advertiseService(ros::NodeHandle n, std::string name,
boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&,
typename ActionSpec::_action_result_type::_result_type& result)> service_cb)
{
boost::shared_ptr<ServiceServerImp> server_ptr(new ServiceServerImpT<ActionSpec>(n, name, service_cb));
return ServiceServer(server_ptr);
}
template <class ActionSpec>
ServiceServerImpT<ActionSpec>::ServiceServerImpT(ros::NodeHandle n, std::string name,
boost::function<bool (const Goal&, Result& result)> service_cb)
: service_cb_(service_cb)
{
as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
boost::bind(&ServiceServerImpT::goalCB, this, _1), false));
as_->start();
}
template <class ActionSpec>
void ServiceServerImpT<ActionSpec>::goalCB(GoalHandle goal){
goal.setAccepted("This goal has been accepted by the service server");
//we need to pass the result into the users callback
Result r;
if(service_cb_(*(goal.getGoal()), r))
goal.setSucceeded(r, "The service server successfully processed the request");
else
goal.setAborted(r, "The service server failed to process the request");
}
};
#endif
|