#include <Service.hpp>

Inheritance diagram for RTT::Service:

[legend]

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 Types inherited from RTT::OperationInterface
typedef std::vector< base::DataSourceBase::shared_ptr >	Arguments

typedef std::vector< ArgumentDescription >	Descriptions

Public Types inherited from RTT::ConfigurationInterface
typedef std::vector< std::string >	AttributeNames

typedef std::vector< base::AttributeBase * >	AttributeObjects

Public Types inherited from RTT::DataFlowInterface
typedef std::vector< std::string >	PortNames

typedef std::vector< base::PortInterface * >	Ports

typedef boost::function< void(base::PortInterface *)>	SlotFunction

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 ()

Public Member Functions inherited from RTT::OperationInterface
void	add (const std::string &name, OperationInterfacePart *part)

void	clear ()

Descriptions	getArgumentList (const std::string &name) const

int	getArity (const std::string &name) const

int	getCollectArity (const std::string &name) const

std::string	getDescription (const std::string &name) const

std::vector< std::string >	getNames () const

OperationInterfacePart *	getPart (const std::string &name)

std::string	getResultType (const std::string &name) const

bool	hasMember (const std::string &name) const

bool	isSynchronous (const std::string &name) const

base::DataSourceBase::shared_ptr	produce (const std::string &name, const Arguments &args, ExecutionEngine *caller) const

base::DataSourceBase::shared_ptr	produceCollect (const std::string &name, const Arguments &args, internal::DataSource< bool >::shared_ptr blocking) const

base::DataSourceBase::shared_ptr	produceHandle (const std::string &name) const

base::DataSourceBase::shared_ptr	produceSend (const std::string &name, const Arguments &args, ExecutionEngine *caller) const

void	remove (const std::string &name)

Public Member Functions inherited from RTT::ConfigurationInterface
template<class T >
bool	addAttribute (const std::string &name, T &attr)

template<class T >
Attribute< T > &	addAttribute (const std::string &name, Attribute< T > &attr)

bool	addAttribute (base::AttributeBase &a)

template<class T >
bool	addConstant (const std::string &name, const T &cnst)

template<class T >
Constant< T > &	addConstant (const std::string &name, Constant< T > &cnst)

bool	addConstant (base::AttributeBase &c)

template<class T >
Property< T > &	addProperty (const std::string &name, T &prop)

template<class T >
Property< T > &	addProperty (const std::string &name, Property< T > &prop)

bool	addProperty (base::PropertyBase &pb)

void	clear ()

	ConfigurationInterface ()

ConfigurationInterface *	copy (std::map< const base::DataSourceBase , base::DataSourceBase > &repl, bool instantiate) const

base::AttributeBase *	getAttribute (const std::string &name) const

AttributeNames	getAttributeNames () const

base::AttributeBase *	getConstant (const std::string &name) const

base::PropertyBase *	getProperty (const std::string &name) const

base::AttributeBase *	getValue (const std::string &name) const

AttributeObjects const &	getValues () const

bool	hasAttribute (const std::string &name) const

bool	hasProperty (const std::string &name) const

void	loadValues (AttributeObjects const &new_values)

PropertyBag *	properties ()

void	removeAttribute (const std::string &name)

bool	removeProperty (base::PropertyBase &p)

bool	removeValue (const std::string &name)

bool	setValue (base::AttributeBase *ab)

	~ConfigurationInterface ()

Public Member Functions inherited from RTT::DataFlowInterface
base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::PortInterface &	addLocalPort (base::PortInterface &port)

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)

base::PortInterface &	addPort (base::PortInterface &port)

void	clear ()

	DataFlowInterface (Service *parent=0)

void	dataOnPort (base::PortInterface *port)

TaskContext *	getOwner () const

base::PortInterface *	getPort (const std::string &name) const

std::string	getPortDescription (const std::string &name) const

PortNames	getPortNames () const

Ports	getPorts () const

template<class Type >
Type *	getPortType (const std::string &name)

Service *	getService () const

void	removeLocalPort (const std::string &name)

void	removePort (const std::string &name)

bool	setPortDescription (const std::string &name, const std::string description)

	~DataFlowInterface ()

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 Types inherited from RTT::OperationInterface
typedef std::map< std::string, OperationInterfacePart * >	map_t

Protected Types inherited from RTT::ConfigurationInterface
typedef std::vector< base::AttributeBase * >	map_t

Protected Member Functions
bool	testOperation (base::OperationBase &op)

Protected Member Functions inherited from RTT::ConfigurationInterface
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)

Protected Member Functions inherited from RTT::DataFlowInterface
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)

Service *	createPortObject (const std::string &name)

Protected Attributes
std::string	mdescription

std::string	mname

TaskContext *	mowner

OperationList	ownedoperations

shared_ptr	parent

Services	services
	the services we implement. More...

SimpleOperations	simpleoperations

Protected Attributes inherited from RTT::OperationInterface
map_t	data

Protected Attributes inherited from RTT::ConfigurationInterface
PropertyBag	bag

map_t	values

Protected Attributes inherited from RTT::DataFlowInterface
Ports	mports

Service *	mservice

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 93 of file Service.hpp.

Member Typedef Documentation

typedef OperationInterface RTT::Service::Factory

Definition at line 100 of file Service.hpp.

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

protected

Definition at line 567 of file Service.hpp.

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

Definition at line 103 of file Service.hpp.

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

protected

Definition at line 561 of file Service.hpp.

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

Definition at line 102 of file Service.hpp.

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

Examples:: /tmp/ws/src/rtt/rtt/TaskContext.hpp.

Definition at line 101 of file Service.hpp.

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

protected

Definition at line 566 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 57 of file Service.cpp.

RTT::Service::~Service ( )

virtual

Definition at line 66 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 178 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 341 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 402 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 423 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 506 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 521 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 81 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 379 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 492 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().

Definition at line 210 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 50 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 268 of file Service.cpp.

const std::string& RTT::Service::doc ( ) const

inline

Returns a descriptive text for this service.

Definition at line 144 of file Service.hpp.

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

inline

Sets the descriptive text for this service.

Definition at line 149 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 203 of file Service.cpp.

const std::string& RTT::Service::getName ( ) const

inline

Returns the name of this service instance.

Definition at line 139 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 142 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 540 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 230 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.

Definition at line 185 of file Service.hpp.

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

Return the execution engine of this service owner.

See also: getOwner

Definition at line 75 of file Service.cpp.

shared_ptr RTT::Service::getParent ( ) const

inline

The parent is the direct parent of this service.

Definition at line 171 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 71 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 133 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 236 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 172 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 113 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 123 of file Service.cpp.

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

Removes a previously added operation.

Definition at line 242 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 103 of file Service.cpp.

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

Reset the implementation of a operation.

Definition at line 152 of file Service.cpp.

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

inline

Changes the name of this service.

Definition at line 154 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.

Returns: true if name was a local, present operation, false otherwise.

Definition at line 160 of file Service.cpp.

void RTT::Service::setOwner ( TaskContext * new_owner )

Sets the owning TaskContext that will execute the operations in this service.

Definition at line 254 of file Service.cpp.

void RTT::Service::setParent ( Service::shared_ptr p )

Sets the parent service in case this service is a sub-service.

Definition at line 264 of file Service.cpp.

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

protected

Member Data Documentation

std::string RTT::Service::mdescription

protected

Definition at line 571 of file Service.hpp.

std::string RTT::Service::mname

protected

Definition at line 570 of file Service.hpp.

TaskContext* RTT::Service::mowner

protected

Definition at line 572 of file Service.hpp.

OperationList RTT::Service::ownedoperations

protected

Definition at line 569 of file Service.hpp.

shared_ptr RTT::Service::parent

protected

Definition at line 573 of file Service.hpp.

Services RTT::Service::services

protected

the services we implement.

Definition at line 563 of file Service.hpp.

SimpleOperations RTT::Service::simpleoperations

protected

Definition at line 568 of file Service.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation