#include <Service.hpp>

Inheritance diagram for RTT::Service:

Public Types
typedef OperationInterface	Factory
typedef std::vector< std::string >	ProviderNames
typedef boost::shared_ptr < const Service >	shared_constptr
typedef boost::shared_ptr < Service >	shared_ptr
Public Member Functions
bool	addLocalOperation (base::OperationBase &op)
template<class Signature >
Operation< Signature > &	addOperation (Operation< Signature > &op)
template<class Func , class Class >
Operation< typename internal::GetSignature< Func > ::Signature > &	addOperation (const std::string name, Func func, Class *obj, ExecutionThread et=ClientThread)
template<class Func >
Operation< Func > &	addOperation (const std::string name, Func *func, ExecutionThread et=ClientThread)
template<class Func , class ObjT >
Operation< typename internal::GetSignatureDS< Func > ::Signature > &	addOperationDS (const std::string &name, Func func, internal::DataSource< boost::shared_ptr< ObjT > > *sp, ExecutionThread et=ClientThread)
template<class Signature , class ObjT >
Operation< Signature > &	addOperationDS (internal::DataSource< boost::shared_ptr< ObjT > > *sp, Operation< Signature > &op)
virtual bool	addService (shared_ptr obj)
template<class Signature >
Operation< Signature > &	addSynchronousOperation (Operation< Signature > &op)
template<class Func , class Class >
Operation< typename internal::GetSignature< Func > ::Signature > &	addSynchronousOperation (const std::string name, Func func, Class *obj, ExecutionThread et=ClientThread)
void	clear ()
internal::OperationCallerC	create (std::string name, ExecutionEngine *caller)
const std::string &	doc () const
void	doc (const std::string &description)
boost::shared_ptr < base::DisposableInterface >	getLocalOperation (std::string name)
const std::string &	getName () const
OperationInterfacePart *	getOperation (std::string name)
base::DataSourceBase::shared_ptr	getOperation (std::string name, const std::vector< base::DataSourceBase::shared_ptr > &args, ExecutionEngine *caller) const
std::vector< std::string >	getOperationNames () const
TaskContext *	getOwner () const
ExecutionEngine *	getOwnerExecutionEngine () const
shared_ptr	getParent () const
virtual ProviderNames	getProviderNames () const
shared_ptr	getService (const std::string &service_name)
bool	hasOperation (const std::string &name) const
bool	hasService (const std::string &service_name)
Service::shared_ptr	provides ()
Service::shared_ptr	provides (const std::string &service_name)
void	removeOperation (const std::string &name)
virtual void	removeService (std::string const &service_name)
bool	resetOperation (std::string name, base::OperationBase *impl)
	Service (const std::string &name, TaskContext *owner=0)
void	setName (const std::string &name)
bool	setOperationThread (std::string const &name, ExecutionThread et)
void	setOwner (TaskContext *new_owner)
void	setParent (shared_ptr new_parent)
virtual	~Service ()
Static Public Member Functions
static Service::shared_ptr	Create (const std::string &name, TaskContext *owner=0)
Protected Types
typedef std::vector < base::OperationBase * >	OperationList
typedef std::map< std::string, shared_ptr >	Services
typedef std::map< std::string, base::OperationBase * >	SimpleOperations
Protected Member Functions
bool	testOperation (base::OperationBase &op)
Protected Attributes
std::string	mdescription
std::string	mname
TaskContext *	mowner
OperationList	ownedoperations
shared_ptr	parent
Services	services
	the services we implement.
SimpleOperations	simpleoperations

Detailed Description

This class allows storage and retrieval of operations, ports, attributes and properties provided by a component.

Services can be nested in sub-services, but all sub-services will be owned by the same TaskContext.

Definition at line 96 of file Service.hpp.

Member Typedef Documentation

typedef OperationInterface RTT::Service::Factory

Definition at line 103 of file Service.hpp.

typedef std::vector<base::OperationBase*> RTT::Service::OperationList [protected]

Definition at line 570 of file Service.hpp.

typedef std::vector<std::string> RTT::Service::ProviderNames

Definition at line 106 of file Service.hpp.

typedef std::map< std::string, shared_ptr > RTT::Service::Services [protected]

Definition at line 564 of file Service.hpp.

typedef boost::shared_ptr<const Service> RTT::Service::shared_constptr

Definition at line 105 of file Service.hpp.

typedef boost::shared_ptr<Service> RTT::Service::shared_ptr

Reimplemented in RTT::scripting::ScriptingService, and RTT::marsh::MarshallingService.

Examples:: /home/rosbuild/hudson/workspace/doc-hydro-rtt/doc_stacks/2015-08-26_16-13-45.011535/rtt/rtt/TaskContext.hpp.

Definition at line 104 of file Service.hpp.

typedef std::map<std::string,base::OperationBase* > RTT::Service::SimpleOperations [protected]

Definition at line 569 of file Service.hpp.

Constructor & Destructor Documentation

RTT::Service::Service	(	const std::string &	name,
		TaskContext *	owner = `0`
	)

Creates a Service with a name and an owner. Each service must be owned by a TaskContext and the owner can be set afterwards with setOwner.

Parameters:

name	The name of this service.
owner	The TaskContext that will execute the operations of this service.

Warning:: When using boost < 1.40, the owner is not stored in the Service, until the Service object is effectively added to the TaskContext.

See also:: getOwner()

Definition at line 59 of file Service.cpp.

RTT::Service::~Service ( ) [virtual]

Definition at line 68 of file Service.cpp.

Member Function Documentation

bool RTT::Service::addLocalOperation ( base::OperationBase & op )

Add an Operation object to the operation interface. This version of addOperation does not add the Operation object to the remote interface and only to the local, in-process C++ interface.

Note:: Do not use this function unless you know what you're doing.

See also:: addOperation() for adding normal, remotely available operations.

Parameters:

op	The Operation object to add

Returns:: true if it could be added, false otherwise.

Definition at line 187 of file Service.cpp.

template<class Signature >

Operation<Signature>& RTT::Service::addOperation ( Operation< Signature > & op ) [inline]

Add an operation object to the interface. This version of addOperation exports an existing Operation object to the public interface of this component.

Parameters:

op	The operation object to add.

Returns:: The given parameter op

Definition at line 344 of file Service.hpp.

template<class Func , class Class >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addOperation	(	const std::string	name,
		Func	func,
		Class *	obj,
		ExecutionThread	et = `ClientThread`
	)		`[inline]`

Add an operation to the interface by means of a C++ Class member function. The function func must be a C++ member function and obj is the object having that function.

Parameters:

name	The name of the new operation
func	A pointer to a function, for example, &Bar::foo (C++ class function).
obj	A pointer to the object that will execute the function.
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns:: A newly created operation object, which you may further document or query.

Definition at line 405 of file Service.hpp.

template<class Func >

Operation< Func >& RTT::Service::addOperation	(	const std::string	name,
		Func *	func,
		ExecutionThread	et = `ClientThread`
	)		`[inline]`

Add an operation to the interface by means of a free C/C++ function. The function func must be a free C/C++ function.

Parameters:

name	The name of the new operation
func	A pointer to a C function, for example, &foo (or a static C++ class function).
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns:: A newly created operation object, which you may further document or query.

Definition at line 426 of file Service.hpp.

template<class Func , class ObjT >

Operation< typename internal::GetSignatureDS<Func>::Signature>& RTT::Service::addOperationDS	(	const std::string &	name,
		Func	func,
		internal::DataSource< boost::shared_ptr< ObjT > > *	sp,
		ExecutionThread	et = `ClientThread`
	)		`[inline]`

For internal use only. The pointer of the object of which a member function must be invoked is stored in a internal::DataSource such that the pointer can change during program execution. Required in scripting for state machines.

Definition at line 509 of file Service.hpp.

template<class Signature , class ObjT >

Operation<Signature>& RTT::Service::addOperationDS	(	internal::DataSource< boost::shared_ptr< ObjT > > *	sp,
		Operation< Signature > &	op
	)		`[inline]`

For internal use only. The pointer of the object of which a member function must be invoked is stored in a internal::DataSource such that the pointer can change during program execution. Required in scripting for state machines.

Definition at line 524 of file Service.hpp.

bool RTT::Service::addService ( Service::shared_ptr obj ) [virtual]

Add a new sub-service to this Service.

Parameters:

obj	This object becomes owned by this Service.

Note:: obj will take a Service::shared_ptr to this and vice versa. In case this Service is not yet reference counted, obj will hold the only reference count to this.

Returns:: true if it could be added, false if such service already exists.

Definition at line 83 of file Service.cpp.

template<class Signature >

Operation<Signature>& RTT::Service::addSynchronousOperation ( Operation< Signature > & op ) [inline]

Add an operation object to the interface. This version exports an existing Operation object to the synchronous interface of the component

Parameters:

op	The operation object to add.

Returns:: The given parameter op

Definition at line 382 of file Service.hpp.

template<class Func , class Class >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addSynchronousOperation	(	const std::string	name,
		Func	func,
		Class *	obj,
		ExecutionThread	et = `ClientThread`
	)		`[inline]`

Add an operation to the synchronous interface by means of a function. The function func must be a C++ Class member function.

Parameters:

name	The name of the new operation
func	A pointer to a function, for example &Bar::foo (C++ class function).
obj	A pointer to the object that will execute the function in case of a C++ class function,
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns:: A newly created operation object, which you may further document or query.

Definition at line 495 of file Service.hpp.

void RTT::Service::clear ( )

Clear all added operations, properties and sub-services from this Service.

Note:: Since sub-services hold a reference to this Service, clear() may also delete this Service. In order to protect against such deletion, take a Service::shared_ptr to this before calling clear().

Reimplemented from RTT::ConfigurationInterface.

Reimplemented in RTT::scripting::ScriptingService.

Definition at line 219 of file Service.cpp.

Service::shared_ptr RTT::Service::Create	(	const std::string &	name,
		TaskContext *	owner = `0`
	)		`[static]`

Creates a Service with a name and an owner. Each service must be owned by a TaskContext and the owner can be set afterwards with setOwner.

Parameters:

name	The name of this service.
owner	The TaskContext that will execute the operations of this service.

Warning:: When using boost < 1.40, the owner is not stored in the Service, until the Service object is effectively added to the TaskContext.

See also:: getOwner()

Definition at line 52 of file Service.cpp.

internal::OperationCallerC RTT::Service::create	(	std::string	name,
		ExecutionEngine *	caller
	)

Create a OperationCallerC object, a template-less operation invocation object. This function is inferior to getOperation(std::string name).

Parameters:

name	The name of the operation

Returns:: An object which can invoke a operation.

Definition at line 285 of file Service.cpp.

const std::string& RTT::Service::doc ( ) const [inline]

Returns a descriptive text for this service.

Definition at line 147 of file Service.hpp.

void RTT::Service::doc ( const std::string & description ) [inline]

Sets the descriptive text for this service.

Definition at line 152 of file Service.hpp.

boost::shared_ptr< base::DisposableInterface > RTT::Service::getLocalOperation ( std::string name )

Get a locally added operation from this interface.

Note:: Do not use this function unless you know what you're doing.

See also:: getOperation() for getting normal, remotely available operations.

Definition at line 212 of file Service.cpp.

const std::string& RTT::Service::getName ( ) const [inline]

Returns the name of this service instance.

Definition at line 142 of file Service.hpp.

OperationInterfacePart * RTT::Service::getOperation ( std::string name )

Get a previously added operation for use in a C++ OperationCaller object. Store the result of this function in a OperationCaller<Signature> object.

Parameters:

name	The name of the operation to retrieve.

Returns:: A pointer to an operation interface part or a null pointer if name was not found.

Definition at line 151 of file Service.cpp.

base::DataSourceBase::shared_ptr RTT::Service::getOperation	(	std::string	name,
		const std::vector< base::DataSourceBase::shared_ptr > &	args,
		ExecutionEngine *	caller
	)		const `[inline]`

For internal use only. Get a previously added operation as a DataSource. This function is inferior to getOperation(std::string name)

Parameters:

name	The name of the operation
args	The arguments of the operation as Data Sources.

Returns:: A internal::DataSource which, when evaluated, invokes the operation.

Definition at line 543 of file Service.hpp.

std::vector< std::string > RTT::Service::getOperationNames ( ) const

Returns the names of all operations added to this interface.

See also:: getNames() to get a list of all operations available to scripting.

Definition at line 236 of file Service.cpp.

TaskContext* RTT::Service::getOwner ( ) const [inline]

The owner is the top-level TaskContext owning this service (indirectly). A Service can only belong to one TaskContext.

Note:: This function will only return the owner after the Service has been added to the TaskContext.

Reimplemented from RTT::DataFlowInterface.

Definition at line 188 of file Service.hpp.

ExecutionEngine * RTT::Service::getOwnerExecutionEngine ( ) const

Return the execution engine of this service owner.

See also:: getOwner

Definition at line 77 of file Service.cpp.

shared_ptr RTT::Service::getParent ( ) const [inline]

The parent is the direct parent of this service.

Definition at line 174 of file Service.hpp.

vector< string > RTT::Service::getProviderNames ( ) const [virtual]

Return a standard container which contains all the sub-service names of this Service

Definition at line 73 of file Service.cpp.

Service::shared_ptr RTT::Service::getService ( const std::string & service_name )

Returns a shared pointer to strictly a sub-service of a null pointer if !hasService(service_name). This method will not return the this pointer when service_name equals "this" or create new service objects.

Parameters:

service_name The name of the sub-service to be returned. or created, or the result of provides() in case of "this".

Definition at line 144 of file Service.cpp.

bool RTT::Service::hasOperation ( const std::string & name ) const

Query for the existence of a Operation in this interface.

See also:: hasMember() to verify if a operation is available to scripting as well.

Definition at line 242 of file Service.cpp.

bool RTT::Service::hasService ( const std::string & service_name )

Check if this service has the sub-service service_name.

Parameters:

service_name The name of the sub-service to be queried.

Definition at line 181 of file Service.cpp.

Service::shared_ptr RTT::Service::provides ( )

Returns this Service, unless no shared_ptr yet exists.

Returns:: a shared pointer from this.

Exceptions:

std::runtime_exception when no Service::shared_ptr to this exists yet.

Definition at line 114 of file Service.cpp.

Service::shared_ptr RTT::Service::provides ( const std::string & service_name )

Returns a sub-Service which resorts under this Service, creating a new one if it does not yet exists. Use getService() if no Service object creation should be done.

Parameters:

service_name The name of the sub-service to be returned or created, or the result of provides() in case of "this".

See also:: provides() for querying for "this".

Definition at line 124 of file Service.cpp.

void RTT::Service::removeOperation ( const std::string & name )

Removes a previously added operation.

Definition at line 248 of file Service.cpp.

void RTT::Service::removeService ( std::string const & service_name ) [virtual]

Remove a previously added sub-service, potentially freeing it (and this) from memory.

Parameters:

service_name the name of the service to remove.

Note:: Since service_name holds a reference to this Service, removeService may also delete this Service. In order to protect against such deletion, take a Service::shared_ptr to this before calling removeService.

Definition at line 105 of file Service.cpp.

bool RTT::Service::resetOperation	(	std::string	name,
		base::OperationBase *	impl
	)

Reset the implementation of a operation.

Definition at line 161 of file Service.cpp.

void RTT::Service::setName ( const std::string & name ) [inline]

Changes the name of this service.

Definition at line 157 of file Service.hpp.

bool RTT::Service::setOperationThread	(	std::string const &	name,
		ExecutionThread	et
	)

Sets the thread of execution of a previously added operation. Only the component itself should modify this property. Don't call this function from outside the component, it has unspecified behaviour when not called from within one of the member functions or a service of the current component.

This function is typically used to change the ExecutionThread of the standard component hooks such as startHook(), configureHook() etc. which all have the ClientThread policy by default.

Parameters:

name	The name of the operation to modify. For example, "start".
et	The ExecutionThread type in which the function of the operation will be executed, being OwnThread or ClientThread.