service_server_handler.h

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#pragma once
 
#include <mrs_lib/coro/runners.hpp>
#include <mrs_lib/coro/task.hpp>
#include <mrs_lib/internal/coroutine_callback_helpers.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace mrs_lib
{
 
  /* class ServiceServerHandler //{ */

  template <class ServiceType>
  class ServiceServerHandler
  {
 
  public:
    using callback_t = typename rclcpp::Service<ServiceType>::CallbackType;

    ServiceServerHandler(const rclcpp::Node::SharedPtr& node, const std::string& address, const callback_t& cbk,
                         const rclcpp::QoS& qos = rclcpp::ServicesQoS());

    ServiceServerHandler();

    ServiceServerHandler(const rclcpp::Node::SharedPtr& node, const std::string& address, const callback_t& cbk, const rclcpp::QoS& qos,
                         const rclcpp::CallbackGroup::SharedPtr& callback_group);

    template <typename ClassType>
    ServiceServerHandler(const rclcpp::Node::SharedPtr& node, const std::string& address,
                         mrs_lib::Task<bool> (ClassType::*method)(const std::shared_ptr<typename ServiceType::Request> request,
                                                                  const std::shared_ptr<typename ServiceType::Response> response),
                         ClassType* instance, const rclcpp::QoS& qos, const rclcpp::CallbackGroup::SharedPtr& callback_group);

    ServiceServerHandler(const rclcpp::Node::SharedPtr& node, const std::string& address, const callback_t& cbk,
                         const rclcpp::CallbackGroup::SharedPtr& callback_group);
 
  private:
    rclcpp::CallbackGroup::SharedPtr callback_group_;
    typename rclcpp::Service<ServiceType>::SharedPtr service_server_;
 
    //}
  };
 
} // namespace mrs_lib
 
#include <mrs_lib/impl/service_server_handler.hpp>