SdoServiceAdmin.h

[詳解]

// -*- C++ -*-
 
#ifndef RTC_SDOSERVICEADMIN_H
#define RTC_SDOSERVICEADMIN_H
 
#include <coil/Factory.h>
 
#include <rtm/idl/SDOPackageStub.h>
#include <rtm/SystemLogger.h>
 
#include <string>
#include <vector>
 
namespace RTC
{
  class RTObject_impl;
  class SdoServiceProviderBase;
  class SdoServiceConsumerBase;

  class SdoServiceAdmin
  {
  public:
    explicit SdoServiceAdmin(::RTC::RTObject_impl& rtobj);

    virtual ~SdoServiceAdmin();

    virtual void init(const coil::Properties& prop);

    SDOPackage::ServiceProfileList* getServiceProviderProfiles();

    SDOPackage::ServiceProfile* getServiceProviderProfile(const char* id);

    SDOPackage::SDOService_ptr getServiceProvider(const char* id);

    bool addSdoServiceProvider(const SDOPackage::ServiceProfile& prof,
                               SdoServiceProviderBase* provider);

    bool removeSdoServiceProvider(const char* id);

    bool addSdoServiceConsumer(const SDOPackage::ServiceProfile& sProfile);

    bool removeSdoServiceConsumer(const char* id);
 
protected:
    void initProvider(const coil::Properties& prop);
    void initConsumer(const coil::Properties& prop);
 

    bool isEnabledConsumerType(const SDOPackage::ServiceProfile& sProfile);

    bool isExistingConsumerType(const SDOPackage::ServiceProfile& sProfile);
 
    static std::string getUUID() ;
 
    static std::string ifrToKey(std::string& ifr);
 
 
  private:
    RTC::RTObject_impl& m_rtobj;
    coil::vstring m_consumerTypes;
    bool m_allConsumerEnabled;

    std::vector<SdoServiceProviderBase*> m_providers;
    std::mutex m_provider_mutex;

    std::vector<SdoServiceConsumerBase*> m_consumers;
    std::mutex m_consumer_mutex;

    ::RTC::Logger rtclog;
  };
 
 
} // namespace RTC
 
#endif  // RTC_SDOSERVICEADMIN_H