/usr/include/ros/service_manager.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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* Copyright (C) 2009, Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_SERVICE_MANAGER_H
#define ROSCPP_SERVICE_MANAGER_H
#include "forwards.h"
#include "common.h"
#include "advertise_service_options.h"
#include "service_client_options.h"
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>
namespace ros
{
class ServiceManager;
typedef boost::shared_ptr<ServiceManager> ServiceManagerPtr;
class PollManager;
typedef boost::shared_ptr<PollManager> PollManagerPtr;
class XMLRPCManager;
typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
class ConnectionManager;
typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
class ROSCPP_DECL ServiceManager
{
public:
static const ServiceManagerPtr& instance();
ServiceManager();
~ServiceManager();
/** @brief Lookup an advertised service.
*
* This method iterates over advertised_services, looking for one with name
* matching the given topic name. The advertised_services_mutex is locked
* during this search. This method is only used internally.
*
* @param service The service name to look for.
*
* @returns Pointer to the matching ServicePublication, NULL if none is found.
*/
ServicePublicationPtr lookupServicePublication(const std::string& service);
/** @brief Create a new client to the specified service. If a client to that service already exists, returns the existing one.
*
* @param service The service to connect to
* @param persistent Whether to keep this connection alive for more than one service call
* @param request_md5sum The md5sum of the request message
* @param response_md5sum The md5sum of the response message
*
* @returns Shared pointer to the ServiceServerLink, empty shared pointer if none is found.
*/
ServiceServerLinkPtr createServiceServerLink(const std::string& service,
bool persistent,
const std::string& request_md5sum, const std::string& response_md5sum,
const M_string& header_values);
/** @brief Remove the specified service client from our list
*
* @param client The client to remove
*/
void removeServiceServerLink(const ServiceServerLinkPtr& client);
/** @brief Lookup the host/port of a service.
*
* @param name The name of the service
* @param serv_host OUT -- The host of the service
* @param serv_port OUT -- The port of the service
*/
bool lookupService(const std::string& name, std::string& serv_host, uint32_t& serv_port);
/** @brief Unadvertise a service.
*
* This call unadvertises a service, which must have been previously
* advertised, using advertiseService().
*
* After this call completes, it is guaranteed that no further
* callbacks will be invoked for this service.
*
* This method can be safely called from within a service callback.
*
* @param serv_name The service to be unadvertised.
*
* @return true on successful unadvertisement, false otherwise.
*/
bool unadvertiseService(const std::string& serv_name);
bool advertiseService(const AdvertiseServiceOptions& ops);
void start();
void shutdown();
private:
bool isServiceAdvertised(const std::string& serv_name);
bool unregisterService(const std::string& service);
bool isShuttingDown() { return shutting_down_; }
L_ServicePublication service_publications_;
boost::mutex service_publications_mutex_;
L_ServiceServerLink service_server_links_;
boost::mutex service_server_links_mutex_;
volatile bool shutting_down_;
boost::recursive_mutex shutting_down_mutex_;
PollManagerPtr poll_manager_;
ConnectionManagerPtr connection_manager_;
XMLRPCManagerPtr xmlrpc_manager_;
};
} // namespace ros
#endif // ROSCPP_SERVICE_MANAGER_H
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