rtt_rosservice_registry_service.h

Go to the documentation of this file.

#ifndef __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H
#define __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H

#include <rtt/RTT.hpp>
#include <boost/shared_ptr.hpp>

class ROSServiceRegistryService;
class ROSServiceProxyFactoryBase;
typedef boost::shared_ptr<ROSServiceRegistryService> ROSServiceRegistryServicePtr;

class ROSServiceRegistryService : public RTT::Service
{
public:
  static ROSServiceRegistryServicePtr Instance();
  static void Release();

  bool registerServiceFactory(ROSServiceProxyFactoryBase* factory);

  bool hasServiceFactory(const std::string &service_type);

  ROSServiceProxyFactoryBase* getServiceFactory(const std::string &service_type);

  void listSrvs();

private:
  ROSServiceRegistryService(RTT::TaskContext* owner);

  static std::map<std::string, boost::shared_ptr<ROSServiceProxyFactoryBase> > factories_;
  static RTT::os::MutexRecursive factory_lock_;

  static ROSServiceRegistryServicePtr s_instance_;
};

#endif // __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H