00001 #ifndef __RTT_ROSSERVICE_ROSSERVICE_H 00002 #define __RTT_ROSSERVICE_ROSSERVICE_H 00003 00004 #include <rtt/RTT.hpp> 00005 #include <rtt/Property.hpp> 00006 00007 namespace rtt_rosservice { 00008 00009 class ROSService : public RTT::ServiceRequester 00010 { 00011 public: 00012 ROSService(RTT::TaskContext *owner) : 00013 RTT::ServiceRequester("rosservice",owner), 00014 connect("connect"), 00015 disconnect("disconnect"), 00016 disconnectAll("disconnectAll") 00017 { 00018 this->addOperationCaller(connect); 00019 this->addOperationCaller(disconnect); 00020 this->addOperationCaller(disconnectAll); 00021 } 00022 00023 RTT::OperationCaller<bool(const std::string &, const std::string &, const std::string &)> connect; 00024 RTT::OperationCaller<bool(const std::string &)> disconnect; 00025 RTT::OperationCaller<void()> disconnectAll; 00026 }; 00027 } 00028 00029 #endif // ifndef __RTT_ROSSERVICE_ROSSERVICE_H 00030