service_manager.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_SERVICE_MANAGER_H
00029 #define ROSCPP_SERVICE_MANAGER_H
00030 
00031 #include "forwards.h"
00032 #include "common.h"
00033 #include "advertise_service_options.h"
00034 #include "service_client_options.h"
00035 
00036 #include <boost/thread/mutex.hpp>
00037 #include <boost/thread/recursive_mutex.hpp>
00038 
00039 namespace ros
00040 {
00041 
00042 class ServiceManager;
00043 typedef boost::shared_ptr<ServiceManager> ServiceManagerPtr;
00044 
00045 class PollManager;
00046 typedef boost::shared_ptr<PollManager> PollManagerPtr;
00047 
00048 class XMLRPCManager;
00049 typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
00050 
00051 class ConnectionManager;
00052 typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
00053 
00054 class ROSCPP_DECL ServiceManager
00055 {
00056 public:
00057   static const ServiceManagerPtr& instance();
00058 
00059   ServiceManager();
00060   ~ServiceManager();
00061 
00072   ServicePublicationPtr lookupServicePublication(const std::string& service);
00073 
00083   ServiceServerLinkPtr createServiceServerLink(const std::string& service,
00084                                                 bool persistent,
00085                                                 const std::string& request_md5sum, const std::string& response_md5sum,
00086                                                 const M_string& header_values);
00087 
00092   void removeServiceServerLink(const ServiceServerLinkPtr& client);
00093 
00100   bool lookupService(const std::string& name, std::string& serv_host, uint32_t& serv_port);
00101 
00116   bool unadvertiseService(const std::string& serv_name);
00117 
00118   bool advertiseService(const AdvertiseServiceOptions& ops);
00119 
00120   void start();
00121   void shutdown();
00122 private:
00123 
00124   bool isServiceAdvertised(const std::string& serv_name);
00125   bool unregisterService(const std::string& service);
00126 
00127   bool isShuttingDown() { return shutting_down_; }
00128 
00129   L_ServicePublication service_publications_;
00130   boost::mutex service_publications_mutex_;
00131 
00132   L_ServiceServerLink service_server_links_;
00133   boost::mutex service_server_links_mutex_;
00134 
00135   volatile bool shutting_down_;
00136   boost::recursive_mutex shutting_down_mutex_;
00137 
00138   PollManagerPtr poll_manager_;
00139   ConnectionManagerPtr connection_manager_;
00140   XMLRPCManagerPtr xmlrpc_manager_;
00141 };
00142 
00143 } // namespace ros
00144 
00145 #endif // ROSCPP_SERVICE_MANAGER_H


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03