rtt_rosservice_registry_service.h
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00001 #ifndef __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H
00002 #define __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H
00003 
00004 #include <rtt/RTT.hpp>
00005 #include <boost/shared_ptr.hpp>
00006 
00007 class ROSServiceRegistryService;
00008 class ROSServiceProxyFactoryBase;
00009 typedef boost::shared_ptr<ROSServiceRegistryService> ROSServiceRegistryServicePtr;
00010 
00011 class ROSServiceRegistryService : public RTT::Service
00012 {
00013 public:
00014   static ROSServiceRegistryServicePtr Instance();
00015   static void Release();
00016 
00022   bool registerServiceFactory(ROSServiceProxyFactoryBase* factory);
00023 
00024   bool hasServiceFactory(const std::string &service_type);
00025 
00026   ROSServiceProxyFactoryBase* getServiceFactory(const std::string &service_type);
00027 
00028   void listSrvs();
00029 
00030 private:
00035   ROSServiceRegistryService(RTT::TaskContext* owner);
00036 
00038   static std::map<std::string, boost::shared_ptr<ROSServiceProxyFactoryBase> > factories_;
00039   static RTT::os::MutexRecursive factory_lock_;
00040 
00042   static ROSServiceRegistryServicePtr s_instance_;
00043 };
00044 
00045 #endif // __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H


rtt_roscomm
Author(s): Ruben Smits, Jonathan Bohren
autogenerated on Wed Sep 16 2015 06:58:09