RTT::Service Class Reference
[Service Interface]

#include <Service.hpp>

Inheritance diagram for RTT::Service:

Public Types
typedef OperationInterface	Factory
typedef std::vector< std::string >	ProviderNames
typedef boost::shared_ptr < Service >	shared_ptr
Public Member Functions
bool	addLocalOperation (base::OperationBase &op)
template<class Func >
Operation< Func > &	addOperation (const std::string name, Func *func, ExecutionThread et=ClientThread)
template<class Func , class Service >
Operation< typename internal::GetSignature< Func > ::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)
template<class Signature >
Operation< Signature > &	addOperation (Operation< Signature > &op)
template<class Signature , class ObjT >
Operation< Signature > &	addOperationDS (internal::DataSource< boost::shared_ptr< ObjT > > *sp, Operation< Signature > &op)
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)
virtual bool	addService (shared_ptr obj)
template<class Func , class Service >
Operation< typename internal::GetSignature< Func > ::Signature > &	addSynchronousOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)
template<class Signature >
Operation< Signature > &	addSynchronousOperation (Operation< Signature > &op)
void	clear ()
internal::OperationCallerC	create (std::string name, ExecutionEngine *caller)
void	doc (const std::string &description)
const std::string &	doc () const
boost::shared_ptr < base::DisposableInterface >	getLocalOperation (std::string name)
const std::string &	getName () const
base::DataSourceBase::shared_ptr	getOperation (std::string name, const std::vector< base::DataSourceBase::shared_ptr > &args, ExecutionEngine *caller) const
OperationInterfacePart *	getOperation (std::string name)
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 (const std::string &service_name)
Service::shared_ptr	provides ()
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 ()
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 Member Functions
bool	testOperation (base::OperationBase &op)
Protected Attributes
std::string	mdescription
std::string	mname
TaskContext *	mowner
OperationList	ownedoperations
shared_ptr	parent
Services	services
	the services we implement.
SimpleOperations	simpleoperations

Detailed Description

This class allows storage and retrieval of operations, attributes and properties provided by a component.

Services can be nested in sub-services, although this is rare.

Definition at line 65 of file Service.hpp.

Member Typedef Documentation

typedef OperationInterface RTT::Service::Factory

Definition at line 76 of file Service.hpp.

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

Definition at line 446 of file Service.hpp.

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

Definition at line 78 of file Service.hpp.

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

Definition at line 440 of file Service.hpp.

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

Reimplemented in RTT::marsh::MarshallingService, and RTT::scripting::ScriptingService.

Examples:: /home/rosbuild/hudson/workspace/doc-electric-orocos_toolchain/doc_stacks/2013-03-01_16-19-33.222388/orocos_toolchain/rtt/rtt/TaskContext.hpp.

Definition at line 77 of file Service.hpp.

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

Definition at line 445 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 59 of file Service.cpp.

RTT::Service::~Service ( ) [virtual]

Definition at line 72 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 177 of file Service.cpp.

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 C function. The function func must be a 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 348 of file Service.hpp.

template<class Func , class Service >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addOperation	(	const std::string	name,
		Func	func,
		Service *	serv,
		ExecutionThread	et = `ClientThread`
	)			`[inline]`

Add an operation to the interface by means of a C++ function. The function func must be a C++ member function and serv 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).
	serv	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 327 of file Service.hpp.

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 287 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 400 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 385 of file Service.hpp.

bool RTT::Service::addService ( Service::shared_ptr obj ) [virtual]

Add a new Service to this TaskContext.

Parameters:

obj

This object becomes owned by this TaskContext.

Returns:: true if it could be added, false if such service already exists.

Definition at line 87 of file Service.cpp.

template<class Func , class Service >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addSynchronousOperation	(	const std::string	name,
		Func	func,
		Service *	serv,
		ExecutionThread	et = `ClientThread`
	)			`[inline]`

Add an operation to the synchronous interface by means of a function. The function func must be a C++ function.

Parameters:

	name	The name of the new operation
	func	A pointer to a function, for example &Bar::foo (C++ class function).
	serv	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 371 of file Service.hpp.

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 304 of file Service.hpp.

void RTT::Service::clear ( )

Clear all added operations from the repository, saving memory space.

Reimplemented from RTT::ConfigurationInterface.

Reimplemented in RTT::scripting::ScriptingService.

Definition at line 207 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 265 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 52 of file Service.cpp.

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

Sets the descriptive text for this service.

Definition at line 119 of file Service.hpp.

const std::string& RTT::Service::doc ( ) const [inline]

Returns a descriptive text for this service.

Definition at line 114 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 200 of file Service.cpp.

const std::string& RTT::Service::getName ( ) const [inline]

Returns the name of this service instance.

Definition at line 109 of file Service.hpp.

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 419 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 141 of file Service.cpp.

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 224 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.

Reimplemented from RTT::DataFlowInterface.

Definition at line 155 of file Service.hpp.

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

Return the execution engine of this service owner.

See also:: getOwner

Definition at line 81 of file Service.cpp.

shared_ptr RTT::Service::getParent ( ) const [inline]

The parent is the direct parent of this service.

Definition at line 141 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 77 of file Service.cpp.

Service::shared_ptr RTT::Service::getService ( const std::string & service_name )

Returns a shared pointer to strictly a sub-service. This method will not return the this pointer when service_name equals "this".

Definition at line 134 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 230 of file Service.cpp.

bool RTT::Service::hasService ( const std::string & service_name )

Check if this service has the sub-service service_name.

Definition at line 171 of file Service.cpp.

Service::shared_ptr RTT::Service::provides ( const std::string & service_name )

Returns a sub-Service which resorts under this Service.

Parameters:

service_name

The name of the sub-service.

Definition at line 121 of file Service.cpp.

Service::shared_ptr RTT::Service::provides ( )

Returns this Service.

Returns:: a shared pointer from this.

Definition at line 111 of file Service.cpp.

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

Removes a previously added operation.

Definition at line 236 of file Service.cpp.

virtual void RTT::Service::removeService ( std::string const & service_name ) [virtual]

Remove a previously added sub-service.

Parameters:

the

name of the service to remove.

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

Reset the implementation of a operation.

Definition at line 151 of file Service.cpp.

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

Changes the name of this service.

Definition at line 124 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.